A robot movement control method, system and inertial sensor control device

Abstract

The invention relates to a robot movement control method which comprises the steps: obtaining angular velocity data of an inertial sensor and performing filtering pretreatment on the angular velocitydata; establishing a quaternion differential equation according to the angular velocity data, utilizing a rung-kuta method to resolve the quaternion differential equation and obtaining an attitude matrix containing target attitude angles; converting the target attitude angles into a navigation coordinate system from a carrier coordinate system; eliminating the target attitude angles not in a threshold range from the target attitude angles in the navigation coordinate system; controlling the robot to move according to the target attitude angles in the threshold range. According to the method disclosed by the invention, the inertial sensor is utilized to control the robot to move; thus, the control method has the advantages of higher accuracy, good online recognition effect, strong universality and better application prospect value. The invention further provides a robot movement control system and an inertial sensing control device.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a robot movement control method, system and inertial sensing control device. Background technique [0002] In many extended applications, human-computer interaction plays an important role, and human-robot interaction is an important topic in the field of robotics, especially in the field of life-assisted robots. For a long time, people have never stopped looking for a more natural and humanized way of human-computer interaction, and using gestures to control robots can replace complex and cumbersome program operations, and it is simple and convenient to manipulate robots, issue commands to robots, and interact with robots Interaction has become a research hotspot. [0003] The essence of gesture recognition is to perceive the user's operation intention according to the user's small gesture operation. It belongs to the category of multi-channel interaction. Its research co...

AI Technical Summary

Problems solved by technology

[0004] At present, there are mainly two methods for gesture recognition. One is vision-based gesture recognition technology. This technology is developed relatively early and is relatively mature, but it has strict requirements on equipment and environment, and its use is limited.

The other is gesture recognition technology based on inertial sensors. This technology is not affected by the environment and light. It mainly performs gesture recognition by measuring changes in acceleration and angular velocity. However, inertial sensors have drift errors. In gesture recognition, such as judging finger There is still the problem of low precision and inaccurate judgment in such small movements

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