An anthropomorphic trajectory planning method for robotic arms based on motion capture system
A motion capture and trajectory planning technology, applied in the directions of manipulator, program-controlled manipulator, claw arm, etc., can solve the problems of strong sense of manipulator, inability to perform human-computer interaction well, and rigid movement, and achieve the effect of improving comfort.
Active Publication Date: 2020-11-27
CHINA UNIV OF GEOSCIENCES (WUHAN)
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Problems solved by technology
[0006] The technical problem to be solved by the present invention is to provide a motion capture based The system's anthropomorphic trajectory planning method for manipulators solves the above-mentioned technical defects
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[0040] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.
[0041] An anthropomorphic trajectory planning method for a manipulator based on a motion capture system, such as figure 1 shown, including:
[0042] S1. Use an optical motion capture device and data transmission equipment to record the movement trajectory of the human arm during a certain movement;
[0043]S2. According to the motion trajectory of the human arm obtained in step S1 during a certain movement process, analyze the inherent motion characteristics of the human arm during the movement process, so as to formulate the anthropomorphic movement trajectory standard of the mechanical arm, thereby constraining the performance process of the mechanical arm The motion trajectory in the operation space and joint space;...
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The invention provides a robot arm anthropomorphic track planning method based on a motion capture system. The method comprises the following steps that a motion track of a human arm in a certain motion process is recorded by using an optical motion capture instrument and data transmission equipment; according to the obtained motion track of the human arm in a certain motion process, the inherentmotion characteristics of the human arm in the motion process are analyzed, so that the anthropomorphic motion track standard of a mechanical arm is set, and the motion track in an operation space anda joint space in the performance process of the mechanical arm is restrained; according to the set anthropomorphic motion track standard, anthropomorphic motion track planning is carried out on the tail end of the mechanical arm in the operation space, and the tail end of the mechanical arm is made to track the planned anthropomorphic motion track; and it is ensured that the mechanical arm has ananthropomorphic operation configuration in the anthropomorphic motion track tracking process.
Description
technical field [0001] The invention relates to the technical field of trajectory planning of a mechanical arm, in particular to a method for anthropomorphic trajectory planning of a mechanical arm based on a motion capture system. Background technique [0002] A robot is a mechanical device that can be programmed to perform specified operations autonomously. The subject of robotics is a very important subject with a high application rate today. It is similar to many high-tech industries such as new energy, electronic informatization, intelligent bionics, Internet +, aerospace, etc., and it is a key development of the country. advanced technology. It involves a variety of disciplines, including image acquisition and processing, signal transmission, control systems, mechanical principles and computer science. [0003] In recent years, more and more humanoid dual-arm robots have been developed and applied to the field of human life, playing an important auxiliary role. Taki...
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IPC IPC(8): B25J9/16B25J18/00
CPCB25J9/1664B25J18/00
Inventor 陈鑫秦梦溪费婷肖哲周小雪
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)