Research On Synchronous Control Algorithm Of Bionic Robot Arm

Nowadays,robots are applied in all walks of life,and the traditional robotic arm control method has a high learning threshold,which hinders the further integration of the robotic arm into the production and life of human society,so this study will explore a new type of human-computer interaction the way.The system uses an inertial sensor to measure the posture of the human arm to solve the motion trajectory of the human arm,and then converts the motion trajectory information of the human arm into the control information of the mechanical arm,allowing the mechanical arm to move synchronously with the human arm to achieve direct remote control through the human hand Man-machine interaction method of robotic arm movement.For the purpose of the above research,this article will deeply discuss the synchronous control algorithm from the following aspects:First of all,the core technology for measuring the posture of the human body is a posture solving algorithm based on MEMS inertial sensors.This article first sorts out the basic principle and solution flow of inertial sensor for attitude calculation,and theoretically analyzes the error source and method of error correction of MEMS inertial sensor.Secondly,according to the attitude calculation theory,a specific attitude calculation algorithm is designed.In this paper,the inertial sensor calibration algorithm is designed first.The least square method and ellipsoid fitting are used to solve the deviation correction data of the accelerometer and magnetometer.Then,the Mahony complementary filter algorithm is used to fuse the sensor data to improve the output attitude of the MEMS inertial sensor.Angle accuracy.Then,designed the hardware circuit and software program of the whole system.The wearable human body motion measurement device is used to capture the human body trajectory,the upper computer solves each joint angle,and drives the mechanical arm module to control the mechanical arm movement to the corresponding position according to the joint angle Complete the goal of synchronous movement of human hand and mechanical arm.Finally,the kinematics model of the robotic arm is used to verify the feasibility of the synchronous control algorithm.this paper completes the design of the MEMS inertial sensor attitude calculation algorithm,wearable human body motion measurement equipment,synchronous control algorithm and experimental verification.The experiment results show that the human-computer interaction method designed in this paper realizes from the movement data collection to the synchronous control of the robot arm,and the system can run more accurately and stably.