Research On Imitation Of Human Arm's Movement By Six Axis Manipulator

For the realization of intelligent plant which is the essence of intelligent manufacturing,the industrial robots are undoubtedly the best assistant.In the past few decades,with the personalization of industrial sites and the diversification of the customization requirements,traditional industrial robots are facing new challenges,they are easy to pose a threat to workers because they are large in size and they can only work in some structured environments and it need to redo some tedious programs according to different tasks.In the era of mass customization and intelligence,It is necessary to improve interaction through anthropomorphic movement to make the industrial robots grasp some kinds of new skills such as perception ability,learning ability and collaboration ability with human.In order to achieve this goal,a multi-joint modeling and analysis method for human arms is studied in this paper.The reproduction of human arm teaching action is realized through the way of using industrial robot arms to imitate human arm movements.In this way,the mechanical arm can reach the designated position according to the human arm teaching actions,and this serves as the basis for fine operation of the end of the mechanical arm.Compared with the traditional industrial robots working methods,our method does not need to reprogramming for different tasks,which can greatly reduces the development period and difficulty.It makes the mechanical arm has the ability to imitate learning,man-machine collaboration and lays the foundation for the use of manipulato flexibly and conveniently in more fields.The main research content of this paper are as follows:Through the analysis and research on the motion capture system and manipulator system,a action imitation platform combined motion capture system and six-axis manipulator was built.Before the study of human arm movement imitation,the kinematics solution of the manipulator was first explored,the kinematics parameters of the manipulator were established using the D-H coordinate system,and the kinematics equation of the manipulator was solved using the algebraic solution method,based on the operations mentioned above,and the simulation experiment was performed to verify the correctness of the solution.Then,the mapping relationship between the end movement of human arm of the motion capture system and the end executor movement of the manipulator was established by combining with the motion capture system.The feasibility of the combination of the motion capture system and the manipulator and the correctness of the trajectory of manipulator by simulanting the end of human arm are proved through simulation experiments.Finally,on the basis of the studies above,to overcome the shortage that it can only simulate position in the simulation process,the mapping relationship model between the manipulator and the human arm is established by analyzing the common and different points between human arm and six-axis manipulator in structure.Through this model,6 joint angles of the manipulator corresponding to the human arm can be solved,and the manipulator is controlled in real-time through data communication to realize the imitation of the human arm's teaching action.In conclusion,after theoretical analysis and practice,the imitation platform was built and the system was developed,on this basis,the simulation of human arm end motion trajectory and the imitation of arm teaching action were realized in this paper,which reached the expected goal of the research project.