CN111360857A - Pneumatic manipulator based on Kinect remote control - Google Patents

Pneumatic manipulator based on Kinect remote control Download PDF

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CN111360857A
CN111360857A CN202010289494.5A CN202010289494A CN111360857A CN 111360857 A CN111360857 A CN 111360857A CN 202010289494 A CN202010289494 A CN 202010289494A CN 111360857 A CN111360857 A CN 111360857A
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pneumatic
manipulator
kinect
finger joint
pwm
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李月峰
路欣雨
于鸿宇
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • 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
    • 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
    • B25J9/1689—Teleoperation
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a Kinect remote control-based pneumatic manipulator, which comprises a Kinect sensor, a computer, a D/A embedded plate, a PWM piezoelectric pneumatic proportional valve, a pneumatic triplet, an air compressor, artificial muscles, springs and finger joints, and is characterized in that: the Kinect sensor is arranged on one side of the finger joint, and meanwhile, the camera module of the Kinect sensor faces the finger joint. The pneumatic humanoid manipulator disclosed by the invention has the same appearance size as that of a human hand, realizes man-machine interaction, can be remotely controlled, has a novel transmission structure, is simple and compact, is convenient and quick to control fingers, is flexible to move, has a large finger movement range and a wide application range, cannot cause pollution like hydraulic pressure even if a pneumatic manipulator system is leaked, has the advantages of quick dynamic response, low cost and strong noise resistance, and each pixel of an image returned by a camera using a Kinect sensor represents the distance between a point and the camera, and has the unit of mm, so that the detection precision is higher.

Description

Pneumatic manipulator based on Kinect remote control
Technical Field
The invention relates to the field of human-computer interaction, in particular to a pneumatic manipulator based on Kinect remote control.
Background
With the development of robotics, the application field of robots is continuously widened, the complexity of tasks and environments of robot operation is continuously increased, and the defects of complex operation, long system delay and the like exist in the conventional robot man-machine interaction which usually adopts operating modes such as rockers or keys and the like.
The human joint has excellent characteristics which the existing robot does not have, and not only can realize more accurate position control, but also has good flexibility. This characteristic is determined primarily by the antagonistic muscle drive patterns employed by the joints. The joint driving device of the present manipulator has some disadvantages, such as: because the number of the used mechanisms is large, a large amount of energy is consumed by overcoming the friction among the mechanisms in the transmission process, and the energy of the output end is greatly reduced compared with the energy generated by the input end; the driving device has a complex structure and a large external volume, which affects the flexibility of use.
Disclosure of Invention
The invention aims to solve the technical problem of providing a pneumatic manipulator based on Kinect remote control.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: the utility model provides a pneumatic manipulator based on Kinect remote control, includes Kinect sensor, computer, the embedded board of DA, the pneumatic proportional valve of PWM piezoelectric type, pneumatic triplet, air compressor, artifical muscle, spring and finger joint, its characterized in that: the Kinect sensor is arranged on one side of the finger joint, the camera module of the Kinect sensor faces the finger joint, an input/output interface of the Kinect sensor is electrically connected with a computer, an input interface of the D/A embedded plate is electrically connected with the computer, an output interface of the D/A embedded plate is electrically connected with one end of a proportional amplifier of the PWM piezoelectric pneumatic proportional valve, the PWM piezoelectric pneumatic proportional valve adopts a three-position five-way valve, a pipeline is arranged between the pneumatic input interface of the PWM piezoelectric pneumatic proportional valve and the pneumatic triplet for connection, an input port of the pneumatic triplet is connected with an air compressor, the artificial muscle adopts pneumatic muscle, the pneumatic output interface of the PWM piezoelectric pneumatic proportional valve is connected with the artificial muscle through a hose, and the other end of the artificial muscle is connected with the finger joint of the manipulator through a rope, the spring adopts and locates finger joint's inside recess department, the both ends of spring are through the bump fixed assembly connection in compression and the recess, every finger joint be independent setting, every finger joint corresponds and is equipped with PWM piezoelectric type pneumatic proportional valve, artificial muscle, spring.
Compared with the prior art, the invention has the advantages that: the pneumatic humanoid manipulator has the advantages that the overall dimension is basically the same as that of a human hand, the transmission structure is novel, the pneumatic humanoid manipulator is simple and compact, the fingers can be controlled conveniently and flexibly, the finger movement range is large, the application range is wide, even if the pneumatic manipulator system leaks, products and environments cannot be polluted like a hydraulic system, electromagnetic interference is avoided, meanwhile, the PWM piezoelectric pneumatic proportional valve has small harmonic waves, sine waves are simulated by utilizing the impulse equivalent principle of an inertia link, the PWM piezoelectric pneumatic proportional valve is quick in dynamic response, high in power factor of a power supply side, relatively simple in control circuit, low in cost and strong in noise resistance, each pixel of an image returned by a camera of a Kinect sensor represents the distance between the point and the camera, and the unit is mm, so the detection precision is high.
As an improvement, the finger joints of the pneumatic humanoid manipulator are designed by adopting a 3D printing technology, and meanwhile, the control manipulator uses an artificial muscle-FluidicMuscle of Festo corporation.
As an improvement, a tendon and a spring are arranged in each finger joint.
As an improvement, the computer uses an ANFIS algorithm, and the Kinect sensor, the computer and the PWM piezoelectric pneumatic proportional valve form an integral control system instead of a traditional PID control system to control the manipulator and complete the calculation of inverse kinematics.
Drawings
Fig. 1 is a system block diagram of a pneumatic manipulator based on Kinect remote control.
Fig. 2 is a flow chart of a pneumatic manipulator based on Kinect remote control.
Fig. 3 is a schematic structural diagram of a pneumatic humanoid manipulator of a pneumatic manipulator based on Kinect remote control.
Fig. 4 is a positive kinematic finger coordinate diagram of the manipulator.
FIG. 5 is a block flow diagram of the inverse motion of ANFIS.
As shown in the figure: 1. the system comprises a Kinect sensor, 2 a computer, 3 a D/A embedded board, 4 a PWM piezoelectric type pneumatic proportional valve, 5 a pneumatic triplet, 6 an air compressor, 7 an artificial muscle, 8 a spring, 9 and a finger joint.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention is implemented in detail, a pneumatic manipulator based on Kinect remote control, which comprises a Kinect sensor 1, a computer 2, a D/A embedded plate 3, a PWM piezoelectric type pneumatic proportional valve 4, a pneumatic triplet 5, an air compressor 6, an artificial muscle 7, a spring 8 and a finger joint 9, and is characterized in that: the Kinect sensor 1 is arranged on one side of a finger joint 9, a camera module of the Kinect sensor 1 faces the finger joint 9, an input/output interface of the Kinect sensor 1 is electrically connected with a computer 2, an input interface of the D/A embedded plate 3 is electrically connected with the computer 2, an output interface of the D/A embedded plate 3 is electrically connected with one end of a proportional amplifier of a PWM piezoelectric pneumatic proportional valve 4, the PWM piezoelectric pneumatic proportional valve 4 adopts a three-position five-way valve, a pipeline is arranged between the pneumatic input interface of the PWM piezoelectric pneumatic proportional valve 4 and the pneumatic triplet 5, an input port of the pneumatic triplet 5 is connected with an air compressor 6, the artificial muscle 7 adopts pneumatic muscle, and a pneumatic output interface of the PWM piezoelectric pneumatic proportional valve 4 is connected with the artificial muscle 7 through a hose, the other end of the artificial muscle 7 is connected with a finger joint 9 of the manipulator through a rope, the spring 8 is arranged in an inner groove of the finger joint 9, two ends of the spring 8 are fixedly assembled and connected with salient points in the groove through compression, each finger joint 9 is independently arranged, and each finger joint 9 is correspondingly provided with a PWM piezoelectric type pneumatic proportional valve 4, the artificial muscle 7 and the spring 8.
The finger joint 9 of the pneumatic humanoid manipulator is designed by adopting a 3D printing technology, and meanwhile, the manipulator is controlled to use an artificial muscle-FluidicMuscle of Festo corporation.
A tendon and a spring 8 are arranged in each finger joint 9.
The computer 2 uses an ANFIS algorithm, and the Kinect sensor 1, the computer 2 and the PWM piezoelectric type pneumatic proportional valve 4 form an integral control system instead of a traditional PID control system to control the manipulator and complete the calculation of inverse kinematics.
The working principle of the invention is as follows: the pneumatic humanoid manipulator is used for 3D printing of parts of the manipulator in the aspect of manufacturing. Since most parts are non-standard and have various shapes, 3D printing is required for manufacturing.
Meanwhile, in the aspect of Kinect gesture recognition control system, a Kinect manipulator is designed to meet the requirement of remote control more simply and conveniently, the manipulator can be operated under the dangerous or remote condition, the inverse kinematics can be effectively solved by using the ANFIS algorithm, the grabbing of the manipulator is facilitated, the manipulator is controlled to use the artificial muscle-fluidicMicrocle of Festo company, in inputting data of the calculated angle into the D/a embedded board using the D/a embedded board, then the FluidicMuscle is controlled to meet the requirement of movement when the valve is connected to the PWM pneumatic pressure regulating valve, and the self-adaptive neural fuzzy inference system arranged in the computer is a novel fuzzy inference system structure organically combining fuzzy logic and a neuron network, adopts a mixed algorithm of a back propagation algorithm and a least square method to adjust the precondition parameters and the conclusion parameters, and can automatically generate the If-Then rule. An Adaptive neural Network-based fuzzy Inference System (ANFIS) organically combines a neural Network and fuzzy Inference, thereby not only playing the advantages of the neural Network and the fuzzy Inference, but also making up the respective defects.
The manipulator carries out solution of inverse kinematics according to ANFIS, the method is an approximate solution and a unique solution for solving the inverse kinematics of the manipulator, and most of the inverse kinematics solutions calculated by using methods such as a Cyclic Coordinate Descent (CCD) algorithm, a BFGS (bidirectional Forwarding-robust-inverse) algorithm, a Jacobian-inverse (Jacobian-inverse) matrix and the like are not unique solutions, so that the algorithm has remarkable advantages.
The kinematic analysis of the designed manipulator is the basis, and the relationship between the joint angle and the final motion coordinate of each finger is mainly analyzed. First, a coordinate system is established for the finger, and positive kinematics analysis is performed based on the relationship of the coordinates. The positive kinematics of the manipulator is the final motion state of the end finger according to the change of the angle. Thus, taking one finger as an example for analysis, the other four fingers are the same. The coordinate system of the finger can be seen in fig. 4.
The positive kinematics is solved according to the critical angles theta of the fingers1，θ2And theta3The position coordinates and the postures of the tail ends of the fingers are solved, the manipulator can see the tandem manipulator according to the coordinate relation of the fingers, the coordinates of the finger tips of the manipulator are obtained according to a D-H parameter method of the manipulator, relevant parameters of the manipulator are shown in table 1, αiThe torsion angle of the finger joint i; liIs the length of the finger joint; a isiIs the link offset on the joint axis i; thetaiIs an angle to the connecting rod i, wherein i is 1, 2, 3;
TABLE 1 finger Link parameters
Figure BDA0002449836110000031
The D-H transformation matrix obtained by using the D-H parameter method is as follows:
Figure BDA0002449836110000041
Figure BDA0002449836110000042
D-H transformation is carried out on the established matrix to obtain a matrix transformed relative to the base coordinate, wherein the matrix is as follows:
Figure BDA0002449836110000043
Figure BDA0002449836110000044
Figure BDA0002449836110000045
wherein for c in the matrix represent cos, s represents sin, and l represents1c1＝l1cosθ1，l2c2＝l2cos(θ1+θ2)，l3c3＝l3cos(θ1+θ2+θ3) The coordinates of the final finger movement can be derived as
x＝l1cosθ1+l2cos(θ1+θ2)+l3cos(θ1+θ2+θ3)
y＝l1sinθ1+l2sin(θ1+θ2)+l3sin(θ1+θ2+θ3)
The final coordinates and pose of the finger movement can be derived from the final derived formula.
The inverse kinematics of the manipulator calculates the motion angle of each joint of the manipulator according to the known last coordinates of the fingers, and is essentially the inverse process of the positive kinematics solution. And analyzing according to the established coordinates, wherein the formula is as follows:
Figure BDA0002449836110000046
t in the formula is a matrix of the transformation,
Figure BDA0002449836110000047
the orientation angle of the rods connected for the finger tips relative to the positive direction of the X axis can be determined according to the matrixTo obtain:
Figure BDA0002449836110000051
the relation between sine and cosine can be obtained by calculation:
Figure BDA0002449836110000052
Figure BDA0002449836110000053
from the knowledge of the inverse trigonometric function, θ can be calculated2＝arctan(s2,c2) Can be calculated according to the same calculation method
θ1＝arctan2(y,x)-arctan2(l2s2,l1+l2c2)
Finally obtained
Figure BDA0002449836110000054
The angle of (A) is as follows:
Figure BDA0002449836110000055
furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the invention, "plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
In the description herein, reference to the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims (4)

1. The utility model provides a pneumatic manipulator based on Kinect remote control, includes Kinect sensor (1), computer (2), D/A embedded board (3), PWM piezoelectric type pneumatic proportional valve (4), pneumatic triplet (5), air compressor (6), artificial muscle (7), spring (8) and finger joint (9), its characterized in that: the Kinect sensor (1) is arranged on one side of a finger joint (9), a camera module of the Kinect sensor (1) faces the finger joint (9), an input/output interface of the Kinect sensor (1) is electrically connected with a computer (2), an input interface of a D/A embedded plate (3) is electrically connected with the computer (2), an output interface of the D/A embedded plate (3) is electrically connected with one end of a proportional amplifier of a PWM piezoelectric pneumatic proportional valve (4), the PWM piezoelectric pneumatic proportional valve (4) adopts a three-position five-way valve, a pipeline is arranged between the pneumatic input interface of the PWM piezoelectric pneumatic proportional valve (4) and the pneumatic triplet (5) for connection, an input port of the pneumatic triplet (5) is connected with an air compressor (6), and an artificial muscle (7) adopts pneumatic muscle, the pneumatic output interface of PWM piezoelectric type pneumatic proportional valve (4) passes through the hose connection with artificial muscle (7), and the other end of artificial muscle (7) passes through the rope and is connected with finger joint (9) of manipulator, spring (8) adopt to locate the inside groove of finger joint (9), the both ends of spring (8) are through the fixed assembly connection of bump in compression and the recess, every finger joint (9) independently set up, every finger joint (9) correspondence is equipped with PWM piezoelectric type pneumatic proportional valve (4), artificial muscle (7), spring (8).
2. The Kinect-based remote operated pneumatic manipulator as claimed in claim 1, wherein: the finger joint (9) of the pneumatic humanoid manipulator is designed by adopting a 3D printing technology, and meanwhile, the manipulator is controlled to use an artificial muscle-FluidicMuscle of Festo corporation.
3. The Kinect-based remote operated pneumatic manipulator as claimed in claim 1, wherein: each finger joint (9) is internally provided with a tendon and a spring (8).
4. The Kinect-based remote operated pneumatic manipulator as claimed in claim 1, wherein: the computer (2) uses an ANFIS algorithm, and the Kinect sensor (1), the computer (2) and the PWM piezoelectric type pneumatic proportional valve (4) form an integral control system.
CN202010289494.5A 2020-04-14 2020-04-14 Pneumatic manipulator based on Kinect remote control Pending CN111360857A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112720540A (en) * 2020-11-02 2021-04-30 西北工业大学深圳研究院 Soft manipulator driven by negative pressure type pneumatic artificial muscle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112720540A (en) * 2020-11-02 2021-04-30 西北工业大学深圳研究院 Soft manipulator driven by negative pressure type pneumatic artificial muscle

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