CN108098780A - A kind of new robot apery kinematic system - Google Patents
A kind of new robot apery kinematic system Download PDFInfo
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- CN108098780A CN108098780A CN201611038652.XA CN201611038652A CN108098780A CN 108098780 A CN108098780 A CN 108098780A CN 201611038652 A CN201611038652 A CN 201611038652A CN 108098780 A CN108098780 A CN 108098780A
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- robot
- apery
- human
- human action
- action
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a kind of new robot apery kinematic system, the apery system is made of human action catching portion, man-machine action demapping section and articulated robot part；Wherein, human action catching portion and man-machine action demapping section associated；Man-machine action demapping section is connected with articulated robot part in a manner of wireless LAN communication.The present invention program gathers the image and depth information of human action by Kinect sensor, obtain human action information, human action gesture recognition is realized using relevant art, establish man-machine action mapping relations, the apery for finally realizing robot using motion control moves, strict demand of the traditional robot to the efficiency and precision of motion control is significantly reduced, realizes simplification, the naturalization of man-machine communication's process.
Description
Technical field
The invention belongs to the human-computer interactions of robot, are related to a kind of new robot apery kinematic system.
Background technology
The development of science and technology is maked rapid progress, the robot to grow up in the last hundred years the nowadays fashionable whole world, and permeating
To all trades and professions, the moment affects our life.
As robot application from industrial circle to industries such as medical treatment, service, amusement, education is constantly extended and goed deep into,
It also proposed new requirement to the motion control of robot.Traditional industrial robot has sternly the efficiency and precision of motion control
Lattice requirement generally requires professional and carries out complicated programming and calibration, could meet final requirement.However, to family
For other fields such as front yard service robot, towards be general population, user and service object often lack it is relevant specially
Industry background knowledge, thus, the requirement of the property easy to use of robot manipulation, interactive capability, sports safety etc. are outstanding
For protrusion.
In order to make simpler man-machine communication, nature, close friend, domestic and international researcher carries out in terms of man-machine interaction mode
In-depth study extensively proposes voice, gesture, eye moves, human body attitude act etc., and species are more, more naturally man-machine mutual
Flowing mode.
Application publication number is that the application for a patent for invention of CN105997097A discloses a kind of " human body lower limbs movement posture reproduction
System and reproducting method ", the system include：For making the power module of system worked well；For gathering human action signal
Data acquisition module；For handling the Signal-regulated kinase of the data-signal obtained from data acquisition module；For control with
Coordinate the micro controller module of whole system；For receiving the data in micro controller module and transferring data to movement posture
The wireless communication module of analysis machine；For reappearing the movement posture analysis machine of human body lower limbs movement locus.The invention passes through sensing
Device obtains related data and carries out vector analysis, can completely reproduce the live effect of human body lower limbs action, but the person of being imitated needs
Wear respective sensor equipment and special power module, when use is inconvenient.
Application publication number is that the application for a patent for invention of CN103605375A discloses a kind of " control method of bio-robot
And device ", this method includes：The joint motions information of human body is gathered, the joint motions information of human body includes human synovial fortune
Dynamic angle；According to human body joint motion angle, movement instruction is generated, movement instruction includes human body joint motion angle；It will fortune
Dynamic instruction is sent to robot, so that the human body joint motion angle that robot includes according to movement instruction is closed accordingly
Section movement.Though the invention can preserve movement instruction, robot is made to imitate human body joint motion, and is carried out always according to instruction is preserved
Pipelining ensures that the product accuracy of production is high, but its nobody-motor-driven make coordinate system and each position rotation angle of upper arm is reflected
It penetrates, it is difficult to ensure that the uniformity and similitude of the athletic performance in human arm and each joint of robot arm.
The content of the invention
Present invention aims at a kind of new robot apery kinematic system is provided, people is gathered by Kinect sensor
The image and depth information of body action, obtain human action information, realize human action gesture recognition using relevant art, establish
People-motor-driven apery the movement made mapping relations, robot is finally realized using motion control, significantly reduces traditional robot
Strict demand to the efficiency and precision of motion control realizes simplification, the naturalization of man-machine communication's process.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：A kind of new robot apery movement
System, the system include：Human action catching portion, people-motor-driven make demapping section and articulated robot part；Wherein,
The human action catching portion and the people-motor-driven make demapping section associated；The people-motor-driven make demapping section with it is described
Articulated robot part is connected in a manner of wireless LAN communication.
Further, the human action catching portion obtains people by gathering the image and depth information of human action
Body action message using artis identification and skeleton tracer technique, realizes human action gesture recognition.
Further, the people-motor-driven demapping section of making is in analysis human synovial and the basis of robot mechanism otherness
On, it is mapped into pedestrian-motor-driven, realizes motion planning and robot control.
Further, the articulated robot part receives motion control instruction, performs corresponding joint motions, real
Existing apery movement.
The present invention has following advantageous effect compared with prior art：
The present invention program combination human action gesture recognition technology, people-motor-driven make mapping algorithm and motion planning and robot control
Strategy realizes the apery movement of robot, significantly reduces traditional robot to the stringent of the efficiency of motion control and precision
It is required that realize the simplification of man-machine communication's process, naturalization.
Description of the drawings
Fig. 1 is new robot apery kinematic system structure diagram.
Fig. 2 is for gathering the Kinect device coordinate system of human action information.
Fig. 3 is the human synovial schematic diagram under the frame of reference.
Fig. 4 is the arm action posture feature under the frame of reference.
Fig. 5 is the movable range of human body shoulder joint.
Fig. 6 is the movable range of human elbow.
Fig. 7 is robot links coordinate system.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is carried out in further detail with complete explanation.It is appreciated that
It is that specific embodiment described herein is only used for explaining the present invention rather than limitation of the invention.
With reference to Fig. 1, a kind of new robot apery kinematic system of the invention, which includes：Human action captures
Partly, people-motor-driven makees demapping section and articulated robot part；Wherein, the human action catching portion and the people-
It is motor-driven to make demapping section associated；The people-motor-driven demapping section and articulated robot part made is with wireless local
Network Communication mode is connected.
Wherein,
(1) the human action catching portion obtains human action by gathering the image and depth information of human action
Information using artis identification and skeleton tracer technique, realizes human action gesture recognition；
The present invention carries out human action acquisition using Microsoft's Kinect sensor as 3D video cameras.Kinect utilizes vision
And infrared sensing, the colour and range image sequence of human action are obtained by OpenNI, and then is utilized based on NiTE middlewares
Development kit tracking human skeleton, and calculate the position of each artis in Kinect coordinate systems under current human's posture in real time
Confidence ceases.Kinect coordinate systems are with reference to Fig. 2.
With reference to Fig. 3, head (H) trunk (T), right and left shoulders (LS, RS), left and right elbow (LE, RE) and its right-hand man (LH, RH) are chosen
Etc. artis information analyze the movement of human upper limb.Human arm movement posture is analyzed by the change procedure of artis
Variation.In addition, by the also detectable human body palms of Kinect, open/hold with a firm grip the identification of state Stat.
In order to avoid position of human body and stance variation generate interference to arm motion detection, the spirit of motion capture system is improved
Activity and adaptability, before the angle of human hand and arm joint action is calculated, it is necessary first to correct the human body frame of reference in real time
CB.Such as：In human body left arm motion analysis, human body frame of reference CBWith left shoulder joint node PLSAs coordinate origin OB, X-axis
Positive direction is direction vector P of the right shoulder to left shoulderRSPLS, Y-axis positive direction is direction vector P of the trunk to both shoulders midpointTPN, Z axis
Positive direction is the multiplication cross of X-direction vector and Y direction vector, i.e. PRSPLS×PTPN, three, which is formed, meets right hand vector rule.
Each artis of left arm is in Kinect coordinate systems CWIn three-dimensional coordinateWPiHuman body frame of reference C can be converted intoB
Under position coordinatesBPi.Such as：Human body frame of reference CBIn, the coordinate of elbow joint is
The joint angles of human arm can intuitively reflect human action posture, convenient for people-motor-driven work of apery movement
Mapping and motion planning and robot control, thus, the human synovial point data of acquisition is handled by space vector method, is asked for
The rotational angle in joint, to realize human action gesture recognition.
With reference to Fig. 4, characterizing the joint angles of head movement has α, β and μ, the angle of oscillation of α reflections large arm in the horizontal direction
Degree, the elevating movement of angle beta reflection large arm in the vertical direction, μ reflect large arm using itself as the rotation angle of axis.Characterize ancon
The joint angles of movement are γ, reflect the angle between the big and small arms of ancon.
The calculation formula of the pivot angle α of large arm in the horizontal direction is as follows：
The calculation formula of the pitch angle β of large arm in the vertical direction is as follows：
Arm is using the anglec of rotation μ that large arm is axis by the normal vector of the perpendicular of large arm and large arm excessively and forearm place plane
Normal vector codetermine, calculation formula is：
It is dot product in formula, × it is multiplication cross.
The angle γ of large arm and forearm can pass through large arm vector OB BPLEWith forearm vectorBPLE BPLHIt calculates：
By characterizing joint angles α, β, μ and γ of shoulder, elbow movement, the movement appearance of human arm can be efficiently identified
State, the foundation as apery motion control.
(2) people-motor-driven demapping section of making carries out on the basis of analysis human synovial and robot mechanism otherness
People-motor-driven maps, and realizes motion planning and robot control；
People-motor-driven work mapping is exactly on the basis of analysis human synovial and joint of robot difference, establishes certain reflect
Relation is penetrated, imitation of the robot arm to human action is realized, so as to complete the motion control of robot arm.
Human synovial is mostly spherical joint, and each joint includes two to three degree of freedom, the motion range in each joint
Also it is not quite similar.With reference to Fig. 5,6, the motion mode of shoulder joint includes：It is anteflexion/after stretch, abduction/adduction, horizontal buckling/level are stretched
Outside exhibition, rotation/medial rotation；The motion mode of elbow joint includes：Before buckling/stretching, extension, rotation/supination.The angular range of movement as shown in the figure,
The basic axis of reference takes erect position, and due to individual difference and test, method for expressing difference, there may be 10 ° for joint angles
~15 ° of error.
When carrying out arm action gesture recognition, according to sensing capability, shoulder joint horizontal buckling/horizontal stretching is acted into letter
Turn to the swing angle α in the horizontal direction in large arm；By shoulder joint it is anteflexion/after stretch and stretch action with abduction/interior and be reduced to large arm
Pitch angle β in the vertical direction；Anglec of rotation μ of the arm using large arm as axis is reduced to by being acted outside shoulder joint medial rotation/rotation；Elbow closes
Buckling/stretching of section is represented by angle γ；Before the rotation of elbow joint/supination need to be differentiated by volar direction, it there is no at present
Method recognizes.
Different from human synovial, joint of robot is generally divided into cradle head and linear joint, and each joint includes one
A degree of freedom.With reference to Fig. 7, the present invention includes four cradle heads and two finger paws using four-degree-of-freedom manipulator arm.Root
Factually border size establishes link rod coordinate system, the D-H parameters such as following table of mechanical arm：
D-H transformation matrixs between each adjacent links of mechanical arm are：
Then mechanical arm direct kinematics equation is：
In formula, p is the position vector of paw, and paw center is directed toward by the origin of base coordinate system；N is robot hand
Normal vector, size and Orientation are provided by oXa；O is the direction vector of paw, another finger tip is directed toward in direction for a finger tip；a
Be paw close to vector, direction enters the direction of object for paw.Accordingly, robot can be described by [n, o, a, p]
Pawl compared with base coordinate system pose.
In order to which robot arm action is made to keep similitude as much as possible with human arm action, and then pass through mould naturally
Imitative human action realizes motion planning and robot control, by the horizontal flexion/extension motion of shoulder joint, by large arm in the horizontal direction
On rotational angle α, map to the angle, θ of joint of robot 11；By shoulder joint it is anteflexion/after stretch and stretch movement with abduction/interior, lead to
Rotational angle β of the shoulder joint in vertical plane is crossed, maps to the angle, θ of joint of robot 22；By buckling/stretching, extension of elbow joint
Movement by rotational angle γ, maps to the angle, θ of joint of robot 33.It will move, map to before supination/rotation of elbow joint
Joint of robot 4, for the ease of capturing article, joint of robot 4 can be determined by the direction of operation object；In the present invention temporarily
Make θ4=0 °.
Thus robot joint angles θ is obtained1、θ2、θ3People-machine mapping ruler with human synovial angle [alpha], between β, γ
Such as following table：
It is pointed out that being limited by four-degree-of-freedom manipulator arm locomitivity, the upper and lower arms of robot can only
It is moved in perpendicular.Thus, in robot arm apery motion process, medial rotation/rotation outward transport of shoulder joint can not be reappeared
It is dynamic, human arm can not be also included in people-organ's section mapping ruler using large arm as the rotation angle information μ of axis.
(3) the articulated robot part receives motion control instruction, performs corresponding joint motions, realizes apery
Movement.
According to people-machine mapping relations, to realize the motion control in each joint of robot arm, robot motion pass is established
The angle, θ of section1、θ2、θ3With human hand and arm joint angle [alpha], the control planning between β, γ：
In formula, kiRepresent zoom factor, biFor compensation rate.α, β, γ are the vector method meter by human action gesture recognition
The human synovial angle information calculated.
Human arm and robot arm joint have differences in structure composition, motion range, the direction of motion etc..It is comprehensive
It closes and considers many factors, introduce zoom factor ki, to adjust the difference of actual motion scope and the direction of motion etc.；Change and mend
The amount of repaying bi, the difference of initial position caused by joint coordinate system difference etc. is can adjust, and then ensures human arm
With the uniformity and similitude of robot arm action.
According to different measurement standards, zoom factor kiWith compensation rate biThere can be different selection principles.
When using robot practical operation as purpose, the space that should make full use of human arm and robot arm is
Target ensures human arm and uniformity of the robot arm in terms of the direction of motion and movement tendency, and then, the present invention proposes
Motion range maximumlly reappears control strategy, on the premise of Movement consistency is ensured, to sacrifice kinematic similarity as cost,
Make full use of the space of human arm and robot arm.
In order to maximize the range of motion, control planning is established rules then as follows really：For joint angle α, arm large arm is horizontal
When direction effectively swings -30 °~120 °, joint of robot 1 rotates about in the range of -120 °~120 °.For joint angle β,
Arm large arm vertical direction swings 30 °~180 °, the elevating movement in the range of 90 °~0 ° of joint of robot 2.For joint angle
γ, when elbow joint stretches 0 ° in the wrong~120 °, manipulator arm joint 3 does elevating movement in the range of -60 °~0 °.Arm span of control limit of control
It is as follows with the robot arm motion range table of comparisons：
At this point, people-machine arm joint control planning is：
I.e.
Motion range maximumlly reappears in control, and the motion mode and space of human arm and robot arm are all
It is unrestricted.Although having lost some action similitudes, it is dynamic that large arm horizontally rotates, the vertical pitching of large arm and ancon are bent and stretched etc.
Make, preferable uniformity is maintained in the direction of motion and movement tendency etc. with joint 1, joint 2, joint 3, there is control to close
It is simple characteristic.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the invention, for those skilled in the art
For, the present invention can have various modifications and changes.All any modifications made within spirit and principles of the present invention are equal
Replace, improve etc., it should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of new robot apery kinematic system, which is characterized in that the apery kinematic system includes：Human action is caught
Catch part, people-motor-driven makees demapping section and articulated robot part；Wherein, the human action catching portion with it is described
People-motor-driven makees demapping section associated；The people-motor-driven demapping section and articulated robot part made is with wireless office
Domain Network Communication mode is connected.
A kind of 2. new robot apery kinematic system according to claim 1, which is characterized in that the human action
Catching portion obtains human action information, utilizes artis identification and bone by gathering the image and depth information of human action
The technologies such as frame tracking, realize human action gesture recognition.
A kind of 3. new robot apery kinematic system according to claim 1, which is characterized in that the people-motor-driven
Make demapping section on the basis of analysis human synovial and robot mechanism otherness, mapped into pedestrian-motor-driven, realize machine
People's motion control.
4. a kind of new robot apery kinematic system according to claim 1, which is characterized in that described articulated
Robot part receives motion control instruction, performs corresponding joint motions, realizes apery movement.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333527A (en) * | 2018-08-30 | 2019-02-15 | 苏州博众机器人有限公司 | A kind of exchange method, device, electronic equipment and storage medium with robot |
| CN109397286A (en) * | 2018-09-29 | 2019-03-01 | Oppo广东移动通信有限公司 | Robot control method, device, electronic equipment and computer readable storage medium |
| CN109693251A (en) * | 2018-12-18 | 2019-04-30 | 航天时代电子技术股份有限公司 | A kind of robot control system and method based on motion capture |
| CN111113429A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Action simulation method, action simulation device and terminal equipment |
| CN112276947A (en) * | 2020-10-21 | 2021-01-29 | 乐聚(深圳)机器人技术有限公司 | Robot motion simulation method, device, equipment and storage medium |
| CN112894794A (en) * | 2019-11-19 | 2021-06-04 | 深圳市优必选科技股份有限公司 | Human body arm action simulation method and device, terminal equipment and storage medium |
| CN113146634A (en) * | 2021-04-25 | 2021-07-23 | 达闼机器人有限公司 | Robot attitude control method, robot and storage medium |
| CN113492404A (en) * | 2021-04-21 | 2021-10-12 | 北京科技大学 | Humanoid robot action mapping control method based on machine vision |
| WO2022142078A1 (en) * | 2020-12-28 | 2022-07-07 | 达闼机器人股份有限公司 | Method and apparatus for action learning, medium, and electronic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333527A (en) * | 2018-08-30 | 2019-02-15 | 苏州博众机器人有限公司 | A kind of exchange method, device, electronic equipment and storage medium with robot |
| CN109397286A (en) * | 2018-09-29 | 2019-03-01 | Oppo广东移动通信有限公司 | Robot control method, device, electronic equipment and computer readable storage medium |
| CN109693251A (en) * | 2018-12-18 | 2019-04-30 | 航天时代电子技术股份有限公司 | A kind of robot control system and method based on motion capture |
| CN109693251B (en) * | 2018-12-18 | 2020-12-08 | 航天时代电子技术股份有限公司 | Robot control system and method based on motion capture |
| CN112894794A (en) * | 2019-11-19 | 2021-06-04 | 深圳市优必选科技股份有限公司 | Human body arm action simulation method and device, terminal equipment and storage medium |
| CN112894794B (en) * | 2019-11-19 | 2022-08-05 | 深圳市优必选科技股份有限公司 | Human body arm action simulation method and device, terminal equipment and storage medium |
| CN111113429A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Action simulation method, action simulation device and terminal equipment |
| CN111113429B (en) * | 2019-12-31 | 2021-06-25 | 深圳市优必选科技股份有限公司 | Action simulation method, action simulation device and terminal equipment |
| CN112276947A (en) * | 2020-10-21 | 2021-01-29 | 乐聚(深圳)机器人技术有限公司 | Robot motion simulation method, device, equipment and storage medium |
| WO2022142078A1 (en) * | 2020-12-28 | 2022-07-07 | 达闼机器人股份有限公司 | Method and apparatus for action learning, medium, and electronic device |
| CN113492404A (en) * | 2021-04-21 | 2021-10-12 | 北京科技大学 | Humanoid robot action mapping control method based on machine vision |
| CN113492404B (en) * | 2021-04-21 | 2022-09-30 | 北京科技大学 | Humanoid robot action mapping control method based on machine vision |
| CN113146634A (en) * | 2021-04-25 | 2021-07-23 | 达闼机器人有限公司 | Robot attitude control method, robot and storage medium |
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