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A foot-machine following control method and control system based on inertial measurement unit

A technology of inertial measurement unit and control method, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., and can solve problems such as poor actual accuracy and failure to use normally

Active Publication Date: 2020-07-31
WUHAN UNIV OF TECH
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  • Application Information

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Problems solved by technology

Due to the cumulative error of the integration, the actual accuracy of this displacement estimation method is too poor to be used normally

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  • A foot-machine following control method and control system based on inertial measurement unit
  • A foot-machine following control method and control system based on inertial measurement unit
  • A foot-machine following control method and control system based on inertial measurement unit

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Embodiment Construction

[0051] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0052] image 3 It is an IMU-based foot-machine following control system according to an embodiment of the present invention. The IMU is connected to the PC through the USB interface, and the robotic arm is connected to the PC through the serial port. But it is not limited to the communication mode of the serial port. The embodiment of the present invention adopts a wired connection mode. If the control unit uses STM32, Arduino, etc. for wireless communication, the entire control system can be simplified.

[0053] The embodiment of the present invention selects the MTI-300 series IMU produced by ...

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Abstract

The invention discloses a foot-machine following control method and system based on an inertial measurement unit (IMU) and belongs to the field of mode recognition and intelligent control. The foot-machine following control method comprises the steps that (1) the IMU is fixed to one of human feet (a working foot), acceleration and angular speed data of the working foot are collected so as to calculate the posture of the feet, and coordinate system conversion is conducted; (2) zero speed detection is conducted, the motion states of the working foot are judged, if the working foot is in a movingstate, the acceleration is integrated, and the integration result is cached, and if the working foot is in a static state, the acceleration is corrected, and displacement is output; (3) the motion states of the working foot are calculated, and mapped into a mechanical arm, thus the purpose of following control is achieved, and following control includes two selectable working modes, namely a track following mode and a position following mode; and (4) when needed, through the action of the other human foot (an auxiliary foot), mapping between the working foot and the mechanical arm is disconnected or reconnected, and thus the assistant adjusting effect is achieved.

Description

technical field [0001] The invention belongs to the field of pattern recognition and intelligent control, and relates to a foot-machine following control method and a control system, in particular to a foot-machine following control method and a control system based on an inertial measurement unit. Background technique [0002] Foot-machine following control, that is, using human feet to control actuators such as robotic arms, so that the movement of human feet can be mapped to the robotic arm, and the robotic arm can follow the movement of human feet, which is a type of human-computer interaction. With the development of microelectronics technology and sensor technology and the rise of virtual reality technology, the application of foot-machine following control is also increasing. [0003] The existing foot-machine following systems include the following categories: (1) joystick, difficult to operate, because the flexibility of the foot is not as good as that of the hand, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/04B25J9/16
CPCB25J9/16B25J13/04
Inventor 向馗曹雨阳景文昊庞牧野周申培唐必伟
Owner WUHAN UNIV OF TECH