摘要
针对传统机械臂控制方式复杂且效率低的问题,研制了一套由六轴传感器捕捉控制者手臂姿态的体感机械臂控制系统。该系统在控制者手臂节点处放置六轴传感器,将传感器采集到的手臂姿态数据传入姿态采集系统,经姿态采集系统融合计算得到控制者手臂的运动状态,再发送至机械臂控制系统,实现机械臂与控制者手臂同步运动。本系统在嵌入式平台上运行,降低了系统成本,提高了可移植性。测试结果表明,通过六轴传感器捕捉手臂姿态控制机械臂,其动作相对平稳,相应延迟时间较短。
In view of the complex and low efficiency of the traditional control mode of mechanical arm,a set of motion-sensing control system is developed.In this system,a six-axis sensor is placed at the controller's arm node,and the arm posture data collected by the sensor is transmitted to the attitude acquisition system.The motion state of the controller's arm is calculated through the fusion of the attitude acquisition system,and then sent to the control system of the manipulator to realize the synchronous motion of the manipulator and the controller's arm.This system runs on the embedded platform,reduces the system cost and improves the portability.The test results show that the motion of the robot arm is relatively stable and the delay time is relatively short.
出处
《科技创新导报》
2018年第26期33-37,共5页
Science and Technology Innovation Herald
基金
辽宁科技大学大学生创新创业训练计划专项经费资助(项目编号:201810146204)
关键词
机械臂
单片机
体感控制
六轴传感器
Mechanical arm
Single chip
Motion control
Six axis sensor
