CN104772756A - Mechanical arm based on inertial measurement units and control method thereof - Google Patents
Mechanical arm based on inertial measurement units and control method thereof Download PDFInfo
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- CN104772756A CN104772756A CN201510037521.9A CN201510037521A CN104772756A CN 104772756 A CN104772756 A CN 104772756A CN 201510037521 A CN201510037521 A CN 201510037521A CN 104772756 A CN104772756 A CN 104772756A
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Abstract
The invention discloses a mechanical arm based on inertial measurement units and a control method of the mechanical arm. The mechanical arm comprises the mechanical arm and a mechanical arm controller, wherein the mechanical arm controller comprises the inertial measurement units and a data fusion calculating unit, the inertial measurement units are respectively installed on upper arms, lower arms and wrists of operating personnel, the inertial measurement units include a magnetic resistance sensor, an accelerometer and an angular rate gyroscope which can be used for respectively measuring a course angle, an acceleration and a movement angular rate of a carrier, measured data are input to the data fusion calculating unit by the inertial measurement units, and attitude angle data of the carrier after resolution by the data fusion calculating unit are output to the mechanical arm. According to the mechanical arm, the movement of the arms of the operating personnel is measured through the inertial measurement units, so as to directly control the movement of the mechanical arm, the movement of the mechanical arm accords with the movement of the arms of the operating personnel, the operating difficulty is low, and the control efficiency is high.
Description
Technical field
The present invention relates to a kind of Mechanical arm control method based on Inertial Measurement Unit, control the Mechanical arm control method of manipulator motion especially by Inertial Measurement Unit Survey control person arm attitude.
Background technology
At present, existing mechanical arm generally by programming Control, or uses the external equipment such as button, rocking bar to control.The former is used for completing repetitive in industrial production; The latter is mainly used in the mechanical arm that someone operates, and as micro-wound operation robot, explosive-removal robot etc., operating personnel pass through the instruction of control method sending action, the motion of controller mechanical arm.But use the method such as button, rocking bar controller mechanical arm, need through professional training, operation easier is large, control efficiency is low.
Summary of the invention
In order to overcome the deficiency that existing machinery arm control method operation easier is large, control efficiency is low, the invention provides a kind of mechanical arm based on Inertial Measurement Unit and control method thereof, this control method uses the arm action of Inertial Measurement Unit sense operation personnel, to mechanical arm sending controling instruction after calculating, operating personnel's arm action maps directly on mechanical arm, simple to operate, directly perceived, efficiency is high.
The technical solution adopted for the present invention to solve the technical problems is as follows:
Based on a mechanical arm for Inertial Measurement Unit, comprise mechanical arm and mechanical arm controller,
Described mechanical arm controller comprises Inertial Measurement Unit and data fusion computing unit, the upper arm of operating personnel, forearm and wrist install Inertial Measurement Unit respectively, described Inertial Measurement Unit comprises magnetoresistive transducer, accelerometer, angular rate gyroscope, the course angle of carrier, acceleration, motion angular speed can be measured respectively, measurement data is input to data fusion computing unit by Inertial Measurement Unit, and the attitude of carrier angular data after data fusion computing unit resolves outputs to described mechanical arm.
Described mechanical arm uses steering wheel as driving power, there are 6 frees degree, wherein wrist joint steering wheel, forearm rotate steering wheel, little brachiocylloosis steering wheel, upper arm rotate that steering wheel, shoulder joint bend steering wheel, shoulder joint rotates steering wheel and is connected successively, and two shoulder joint steering wheels are fixed on base.
Described data fusion attitude calculation unit is ATmega8 single-chip microcomputer.
A kind of control method of described mechanical arm, described Inertial Measurement Unit measures the attitude of operating personnel's arm, then attitude data is sent to data fusion computing unit, calculate the anglec of rotation of each motor of mechanical arm, then be sent to the electric machine controller of mechanical arm, controller mechanical arm makes the action identical with operating personnel's arm action.
Described data fusion computing unit adopts the method for computer memory vector angle to obtain attitude of carrier angular data, attitude cosine matrix is used to represent the angle of carrier coordinate system each axle Relative Navigation coordinate system, according to the data of accelerometer and magnetoresistive transducer, revise the angular deflection that gyro data shake produces.
Described mechanical arm uses steering wheel as driving power, there are 6 frees degree, wherein wrist joint steering wheel, forearm rotate steering wheel, little brachiocylloosis steering wheel, upper arm rotate that steering wheel, shoulder joint bend steering wheel, shoulder joint rotates steering wheel and is connected successively, and two shoulder joint steering wheels are fixed on base.
Beneficial effect of the present invention:
Use the inventive method controller mechanical arm, mechanical arm is followed the arm action of operating personnel and moves, the action of operating personnel directly shows in the motion of mechanical arm, this control method is more directly perceived compared to method such as use button, rocking bar etc., operation easier is low, control efficiency is high, even without through professional training, also can complete the control to mechanical arm.
Measured the motion of operating personnel's arm by Inertial Measurement Unit, direct control unit mechanical arm is moved, and mechanical arm action is consistent with operating personnel's arm action, and operation easier is low, control efficiency is high.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described;
Fig. 1 is Inertial Measurement Unit hardware structure schematic diagram;
Fig. 2 is that sixdegree-of-freedom simulation structure and motor arrange position schematic diagram;
Fig. 3 is the abstract schematic diagram of human arm in sky, northwest geographical coordinate;
Fig. 4 is mechanical arm controller and mechanical arm hardware structure.
Detailed description of the invention
Fig. 1 is the Inertial Measurement Unit hardware structure schematic diagram of one embodiment of the invention, Inertial Measurement Unit is integrated with magnetoresistive transducer, accelerometer, angular rate gyroscope, the course angle of carrier, carrier acceleration, carrier movement angular speed can be measured, measurement data is input to data fusion solving unit by data-interface by sensor, in data fusion solving unit, by carrying out data fusion to three sensing datas, attitude of carrier angular data after calculating exports, as by serial ports or other known modes; The present embodiment can use ATmega8 single-chip microcomputer as data fusion attitude algorithm unit, passes through I
2c interface reads the data of angular rate gyroscope, accelerometer, magnetoresistive transducer, attitude cosine matrix is used to represent the angle of carrier coordinate system each axle Relative Navigation coordinate system, use accelerometer and magnetoresistive transducer, revise the angular deflection that gyro data shake produces.
Mechanical arm structural design in the present invention can adopt as shown in Figure 2, use steering wheel as driving power, there are 6 frees degree, wherein wrist joint steering wheel 1, forearm rotate steering wheel 2, little brachiocylloosis steering wheel 3, upper arm rotate that steering wheel 4, shoulder joint bend steering wheel 5, shoulder joint rotates steering wheel 6 and is connected successively, and two shoulder joint steering wheels are fixed on base 7.
Inertia measurement data are converted to the method for mechanical arm steering wheel angle, the method that can have employed computer memory vector angle realizes.As shown in Figure 3, the upper arm of human arm, forearm, palm are initial point O with shoulder joint by the present embodiment, elbow joint is C point, wrist joint is B point, finger front end is A point, be abstracted into the line segment that OC, CB, BA tri-join end to end, length is 1 unit, three line segments pitching angle theta in a coordinate system, yaw angle ψ, roll angle γ can be recorded by Inertial Measurement Unit, use θ and ψ through type 1.1 can obtain the space vector of three line segments
oC, CB, BA.use formula 1.2 to 1.7 calculates the anglec of rotation of 6 mechanical arm steering wheels of M1 to M6.
In the diagram, by the Inertial Measurement Unit installed on operating personnel's upper arm, forearm, palm, measure the attitude angle at each position of operating personnel's arm, attitude angle reader mechanical arm attitude calculation unit, the anglec of rotation of each steering wheel of mechanical arm is calculated through above-mentioned algorithm, the packing of the angle-data of each steering wheel is sent to mechanical arm servos control unit by serial ports, and each steering wheel of servos control unit controls mechanical arm moves to the angle of specifying.
Claims (6)
1. based on a mechanical arm for Inertial Measurement Unit, it is characterized in that, comprise mechanical arm and mechanical arm controller,
Described mechanical arm controller comprises Inertial Measurement Unit and data fusion computing unit, the upper arm of operating personnel, forearm and wrist install Inertial Measurement Unit respectively, described Inertial Measurement Unit comprises magnetoresistive transducer, accelerometer, angular rate gyroscope, the course angle of carrier, acceleration, motion angular speed can be measured respectively, measurement data is input to data fusion computing unit by Inertial Measurement Unit, and the attitude of carrier angular data after data fusion computing unit resolves outputs to described mechanical arm.
2. mechanical arm according to claim 1, it is characterized in that, described mechanical arm uses steering wheel as driving power, there are 6 frees degree, wherein wrist joint steering wheel (1), forearm rotate steering wheel (2), little brachiocylloosis steering wheel (3), upper arm rotate steering wheel (4), shoulder joint bend steering wheel (5), shoulder joint rotate steering wheel (6) be connected successively, two shoulder joint steering wheels are fixed on base (7).
3. mechanical arm according to claim 1, is characterized in that, described data fusion attitude calculation unit is ATmega8 single-chip microcomputer.
4. the control method of a mechanical arm according to claim 1, it is characterized in that, described Inertial Measurement Unit measures the attitude of operating personnel's arm, then attitude data is sent to data fusion computing unit, calculate the anglec of rotation of each motor of mechanical arm, then be sent to the electric machine controller of mechanical arm, controller mechanical arm makes the action identical with operating personnel's arm action.
5. the control method of mechanical arm according to claim 4, it is characterized in that, described data fusion computing unit adopts the method for computer memory vector angle to obtain attitude of carrier angular data, attitude cosine matrix is used to represent the angle of carrier coordinate system each axle Relative Navigation coordinate system, according to the data of accelerometer and magnetoresistive transducer, revise the angular deflection that gyro data shake produces.
6. the control method of mechanical arm according to claim 4, it is characterized in that, described mechanical arm uses steering wheel as driving power, there are 6 frees degree, wherein wrist joint steering wheel (1), forearm rotate steering wheel (2), little brachiocylloosis steering wheel (3), upper arm rotate steering wheel (4), shoulder joint bend steering wheel (5), shoulder joint rotate steering wheel (6) be connected successively, two shoulder joint steering wheels are fixed on base (7).
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058388A (en) * | 2015-08-17 | 2015-11-18 | 哈尔滨工业大学 | Sensor data fusion method used for acquiring robot joint position feedback information |
| CN105252538A (en) * | 2015-11-06 | 2016-01-20 | 邹海英 | Novel industrial robot demonstrator |
| CN105817030A (en) * | 2016-05-25 | 2016-08-03 | 上海金罡石智能科技有限公司 | Six-freedom-degree racing simulator washout control method |
| CN105997247A (en) * | 2016-05-06 | 2016-10-12 | 京东方科技集团股份有限公司 | A control terminal, an operation apparatus terminal, a method and a system for remote operations |
| CN106182003A (en) * | 2016-08-01 | 2016-12-07 | 清华大学 | A kind of mechanical arm teaching method, Apparatus and system |
| CN107553499A (en) * | 2017-10-23 | 2018-01-09 | 上海交通大学 | Natural the gesture motion control system and method for a kind of Multi-shaft mechanical arm |
| CN108007458A (en) * | 2017-12-28 | 2018-05-08 | 苗正 | A kind of strap down inertial navigation original paper attachment device and its for measuring mechanical arm Angle Method |
| CN108376509A (en) * | 2018-04-09 | 2018-08-07 | 重庆鲁班机器人技术研究院有限公司 | Teaching mechanical arm system and its control method |
| CN108710443A (en) * | 2018-05-21 | 2018-10-26 | 云谷（固安）科技有限公司 | The generation method and control system of displacement data |
| CN108748220A (en) * | 2018-05-28 | 2018-11-06 | 武汉理工大学 | A kind of foot based on Inertial Measurement Unit-machine follow-up control method and control system |
| CN111421551A (en) * | 2020-05-08 | 2020-07-17 | 哈尔滨理工大学 | Robot joint information acquisition method |
| CN112720503A (en) * | 2021-01-12 | 2021-04-30 | 深圳康诺思腾科技有限公司 | Robot equipment and control method thereof |
| WO2021218212A1 (en) * | 2020-04-26 | 2021-11-04 | 珠海格力智能装备有限公司 | Robot control method and apparatus, and storage medium and processor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105058388A (en) * | 2015-08-17 | 2015-11-18 | 哈尔滨工业大学 | Sensor data fusion method used for acquiring robot joint position feedback information |
| CN105252538A (en) * | 2015-11-06 | 2016-01-20 | 邹海英 | Novel industrial robot demonstrator |
| CN105252538B (en) * | 2015-11-06 | 2017-09-05 | 邹海英 | A kind of Novel industrial robot teaching machine |
| CN105997247A (en) * | 2016-05-06 | 2016-10-12 | 京东方科技集团股份有限公司 | A control terminal, an operation apparatus terminal, a method and a system for remote operations |
| CN105817030A (en) * | 2016-05-25 | 2016-08-03 | 上海金罡石智能科技有限公司 | Six-freedom-degree racing simulator washout control method |
| CN106182003A (en) * | 2016-08-01 | 2016-12-07 | 清华大学 | A kind of mechanical arm teaching method, Apparatus and system |
| CN107553499A (en) * | 2017-10-23 | 2018-01-09 | 上海交通大学 | Natural the gesture motion control system and method for a kind of Multi-shaft mechanical arm |
| CN108007458A (en) * | 2017-12-28 | 2018-05-08 | 苗正 | A kind of strap down inertial navigation original paper attachment device and its for measuring mechanical arm Angle Method |
| CN108376509A (en) * | 2018-04-09 | 2018-08-07 | 重庆鲁班机器人技术研究院有限公司 | Teaching mechanical arm system and its control method |
| CN108710443A (en) * | 2018-05-21 | 2018-10-26 | 云谷（固安）科技有限公司 | The generation method and control system of displacement data |
| CN108748220A (en) * | 2018-05-28 | 2018-11-06 | 武汉理工大学 | A kind of foot based on Inertial Measurement Unit-machine follow-up control method and control system |
| WO2021218212A1 (en) * | 2020-04-26 | 2021-11-04 | 珠海格力智能装备有限公司 | Robot control method and apparatus, and storage medium and processor |
| CN111421551A (en) * | 2020-05-08 | 2020-07-17 | 哈尔滨理工大学 | Robot joint information acquisition method |
| CN112720503A (en) * | 2021-01-12 | 2021-04-30 | 深圳康诺思腾科技有限公司 | Robot equipment and control method thereof |
| WO2022151816A1 (en) * | 2021-01-12 | 2022-07-21 | 深圳康诺思腾科技有限公司 | Robot device and control method therefor |
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Application publication date: 20150715 |