Research On Teleoperated Manipulator System Based On Somatosensory Interaction

Manipulator is one of the most common automation devices in robots,which can reduce labor intensity and improve efficiency,as well as reduce the risk of human activities and ensure personal safety in dangerous environments.There are some problems in the current industry,such as low control plan efficiency and poor interaction with users.This paper designs a teleoperation manipulator system based on somatosensory interaction technology,which realizes remote control of the manipulator by somatosensory interaction technology.This method is more natural and efficient,close to the usage habits,and has broad application prospects.The system consists of two parts: Data glove and 6-DOF manipulator,which realizes four functions: Posture capture,posture mapping,manipulator control and interactive force feedback.The main contents are as follows:(1)For posture capture,the data processing algorithm was studied according to the characteristics of three posture sensors at the glove end,which was used to improve the accuracy of hand posture data.The finger curvature acquisition circuit based on strain gauge was designed,and the high-order linearization fitting of strain gauge was carried out by least square method.The advantages and disadvantages of various posture fusion algorithms were compared,and the Kalman filter algorithm based on quaternion was used to fuse and solve the posture of hand-back sensor data;Sliding window filtering algorithm was used to smooth the data of forearm sensor.(2)Posture mapping,manipulator control and interactive force feedback design.The structure of the manipulator was analyzed,and the posture mapping plan conforming to the user’s habit was explained.Combined with posture mapping,the auxiliary control strategy was applied.Kinematics analysis of the manipulator was carried out.The kinematics model was established by D-H method,and the workspace was optimized.The solution matrix of the end position of the manipulator was determined,and the position control strategy was designed.A two-stage interactive force feedback plan combining finger limit feedback and vibration tactile feedback was constructed.The jaw opening and closing control strategy of manipulator was designed by combining force feedback.(3)Embedded software and hardware design of glove end and manipulator end.In the hardware part,the glove end completed the PCB design and external circuit design of the core unit,and the manipulator end finished the core circuit design of the motor drive unit and the jaw pressure acquisition unit.In the software part,Free RTOS was applied to glove end and manipulator end,and the software design was completed according to the system function and Free RTOS application principle.Finally,the experiment was designed to complete the system performance test,and the captured hand posture data was visualized,which verified the rationality of the software and hardware design of the data glove posture capture unit and the feasibility of the data processing algorithm used in each posture module,and made a joint test to the system,which proved that the system can successfully complete the grasping.