轻型仿人机械手臂集成研发平台ArmPlant的设计与实现
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摘要
建立了一个轻型仿人机械手臂集成研发平台ArmPlant,该平台基于ODE物理引擎计算,采用Visual C++、Matlab混合编程开发,集外形尺寸设计、质量分布、关节扭矩评测、运动学及逆运动学计算、动作规划与仿真、人体动作采集和再现、运动控制、样机硬件驱动、运动特性评测等功能于一体,可用于仿人机械手臂的快速研制过程。实践过程中,基于该平台设计并实现一款8-DoF仿人机械手臂,并选取物体连续抓取、人体动作跟踪再现这两个场景,对ArmPlant整体功能及机械手臂运动特性进行评测。仿真实验及样机实验均表明ArmPlant功能较完备、计算及控制准确、交互性强,能有效支持轻型仿人机械手臂的研发全过程,显著提高研发效率。
An R&D-level IDE of the lightweight humanoid robot arm is proposed called ArmPlant which is ODE-based and mix-programed by using Visual C++ and Matlab.ArmPlant integrates functions including shape and dimension design,mass distribution,joint torque evaluation,kinematics and inverse kinematics calculation,motion planning and simulation,human motion capture and reproduction,motion control,hardware driver,and motion evaluation.Therefore,ArmPlant can be used for rapid development of humanoid robot arms.In practice,an 8-DoF humanoid robot arm is designed and implemented based on this platform.Two experiment scenarios,i.e.,continuous grabbing and human motion tracking,are selected to evaluate the overall function of ArmPlant and the motion characteristics of the robot arm.The experimental results from simulation and prototype both show that ArmPlant is fully-functional,accurate in computation and control,interactive which proves it can support the whole development process of the lightweight humanoid robot arm,and improve the efficiency of the R&D process effectively.
An R&D-level IDE of the lightweight humanoid robot arm is proposed called ArmPlant which is ODE-based and mix-programed by using Visual C++ and Matlab.ArmPlant integrates functions including shape and dimension design,mass distribution,joint torque evaluation,kinematics and inverse kinematics calculation,motion planning and simulation,human motion capture and reproduction,motion control,hardware driver,and motion evaluation.Therefore,ArmPlant can be used for rapid development of humanoid robot arms.In practice,an 8-DoF humanoid robot arm is designed and implemented based on this platform.Two experiment scenarios,i.e.,continuous grabbing and human motion tracking,are selected to evaluate the overall function of ArmPlant and the motion characteristics of the robot arm.The experimental results from simulation and prototype both show that ArmPlant is fully-functional,accurate in computation and control,interactive which proves it can support the whole development process of the lightweight humanoid robot arm,and improve the efficiency of the R&D process effectively.
引文
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[14] 丰焕亭.机器人手臂自动控制的优化设计与仿真[J].计算机仿真,2016,33(3):264-267.
[15] CARLOS LOPEZ-FRANCO,JESUS HERNANDEZ-BARRAGAN,ALMA Y.ALANIS,et al.A soft computing approach for inverse kinematics of robot manipulators[J].Engineering Applications of Artificial Intelligence,2018(74):104-120.
[16] RUSSELL SMITH.Open dynamics engine[EB/OL].http://www.ode.org/ode.html.
[2] 克莱格,贠超(译).机器人学导论[M].北京:机械工业出版社,2006.
[3] 周风余,尹磊,宋锐,等.一种机器人云平台服务构建与调度新方法[J].机器人,2017,39(1):89-98.
[4] 于秀丽,魏世民,廖启征.仿人机器人发展及其技术探索[J].自动化学报,2009,45(3):45-52.
[5] 郑嫦娥,钱桦.仿人机器人国内外研究动态[J].机床和液压,2006(3):1-4.
[6] 李宪华,郭永存,张军,等.基于Matlab的模块化机器人手臂运动学算法验证及运动仿真[J].计算机应用研究,2013,30(6):89-95.
[7] 李宪华,张雷刚,郭帅,等.一种开放式机械臂3D虚拟仿真平台快速构建方法[J].机械科学与技术,2018(4):599-606.
[8] AMUDHAN S,ARUL KUMAR M,AROCKIA A,et al.Design and analysis of electronic controller based robot arm[J].Applied Mechanics and Materials,2015(813):972-977.
[9] 王朝阳,曲家迪,张福海,等.基于Kinect的类人机械臂关节运动直接示教[J].机器人,2017,39(5):697-703.
[10] 李满天,李爱镇,郭伟.基于ODE的四足机器人仿真平台研究[J].机械与电子,2012(8):61-64.
[11] 钟君,曹建树.基于Kinect V2.0的6自由度机械臂控制系统的实现[J].机床与液压,2018,46(9):81-85.
[12] 郑棋棋,汤奇荣,张凌楷,等.空间机械臂建模及分析方法综述[J].载人航天,2017,23(1):82-97.
[13] 张广斌,王吉亮,常宗瑜.人体上肢运物操作特征的分析[J].机械设计与制造,2016(5):182-185.
[14] 丰焕亭.机器人手臂自动控制的优化设计与仿真[J].计算机仿真,2016,33(3):264-267.
[15] CARLOS LOPEZ-FRANCO,JESUS HERNANDEZ-BARRAGAN,ALMA Y.ALANIS,et al.A soft computing approach for inverse kinematics of robot manipulators[J].Engineering Applications of Artificial Intelligence,2018(74):104-120.
[16] RUSSELL SMITH.Open dynamics engine[EB/OL].http://www.ode.org/ode.html.