摘要
为代替专业人员在高危环境中工作,开展了一种面向危险环境远程操作的仿人随动机器人研究.首先,基于人体上肢生物学特性,设计了从端仿人随动机器人并利用蒙特卡洛法对其理论运动空间进行分析.其次,依据人体上肢运动学特点,构建了基于微惯性传感器和柔性弯曲度传感器的穿戴式人体数据采集系统,完成了对人体运动信息的采集.进而,利用分段线性插值法完成主从端的姿态—运动映射优化,并基于时敏特性和角度延迟特性进行了系统性能分析.最终,在构建原理样机的基础上开展了机构跟随实验和物体抓取实验.结果表明,该样机可以较好地满足仿人随动的控制精度和鲁棒性等要求,在特定工作扇面拥有和人类大致相同的工作空间,能够较好地代替人完成部分危险品操作任务.
We carry out the research on teleoperated humanoid servo robots for its suitability in replacing human operators in dangerous environments.Firstly,based on the biological characteristics of the human upper limb,we design a slaved humanoid servo robot,and analyze its theoretical motion space using the Monte Carlo method.Secondly,based on the kinematic characteristics of the human upper limb,we construct a wearable human data acquisition system in combination with micro-inertial sensors and flexible curvature sensors to enable the system to obtain human motion information.Thirdly,we use the piecewise linear interpolation method to optimize the master-slave attitude-motion mapping capability,and analyze the system performance based on the time sensitivity and angular delay.Finally,we conduct experiments in which the humanoid servo robot model machine followed and carried objects.The results show that the proposed model machine can satisfactorily meet the precision and robustness requirements of the humanoid servo.The humanoid servo robot has the same motion space as human in particular sectors and is able to replace humans in performing dangerous tasks.
作者
郭文昕
秦伟伟
李铭昊
赵楚晨
李平
廉正
GUO Wenxin;QIN Weiwei;LI Minghao;ZHAO Chuchen;LI Ping;LIAN Zheng(Rocket Force University of Engineering,Xi'an 710025,China)
出处
《信息与控制》
CSCD
北大核心
2021年第2期174-183,共10页
Information and Control
基金
国家自然科学基金资助项目(61503392)。
