基于Kinect的机械臂增强现实示教研究
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摘要
机械臂广泛地应用在工业自动化生产以及人们日常生活中,机械臂而示教学习作为一种重要的运动规划方式,是机械臂研究领域的一项重要研究内容。鉴于此,设计了一种基于Kinect的虚拟机械臂增强现实示教系统,通过Kinect传感器采集人手位置数据,利用机械臂逆运动学模型驱动虚拟机械臂跟踪人手运动,实现对机械臂的虚拟示教;利用增强现实技术,将虚拟机械臂叠加到真实环境中,实现对机械臂的增强现实示教。实验结果表明该系统能够将虚拟机械臂准确地叠加到真实环境中,并实时跟踪人手运动,系统具有良好的交互性。
Manipulators are widely used in industrial production and people's daily life,while,manipulator teaching,as an important method for manipulator motion planning,is one of the key issues for the research area of Manipulators.This paper presents a virtual manipulator teaching system using augmented reality based on a Kinect sensor,where,the end-effector of the virtual manipulator follows the movement of the human hand based on a Kinect sensor through an inverse kinematics model,and then the resulting virtual manipulator is added into the real working environment by using augmented reality.The experimental results show that,in our system,the virtual manipulator can be accurately registered into the real working environment and follow the movement of the human hand in real-time.
Manipulators are widely used in industrial production and people's daily life,while,manipulator teaching,as an important method for manipulator motion planning,is one of the key issues for the research area of Manipulators.This paper presents a virtual manipulator teaching system using augmented reality based on a Kinect sensor,where,the end-effector of the virtual manipulator follows the movement of the human hand based on a Kinect sensor through an inverse kinematics model,and then the resulting virtual manipulator is added into the real working environment by using augmented reality.The experimental results show that,in our system,the virtual manipulator can be accurately registered into the real working environment and follow the movement of the human hand in real-time.
引文
[1]张华文.六自由度机器人三维可视化虚拟示教系统[D].绵阳:西南科技大学,2014.
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[8]吴秦,陈智,周宇旋,等.基于Kinect骨骼跟踪技术的人机交互[J].常州大学学报:自然科学版,2014,26(3):6-12.
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[2]李想,钱欢,付庄,等.基于QT和OpenGL的机器人离线编程和仿真系统设计[J].机电一体化,2013,(4):56-59.
[3]FANG H C,ONG S K,NEE A Y C.Novel AR-based interface for human-robot interaction and visualization[J].Advances in Manufacturing,2014,2(4):275-288.
[4]FANG H C,ONG S K,NEE A Y C.Orientation planning of robot end-effector using augmented reality[J].International Journal of Advanced Manufacturing Technology,2013,67(9):2033-2049.
[5]CHONG J W S,ONG S K,NEE A Y C,et al.Robot Programming using augmented reality:An method for planning collision-free paths[J].Robotics and Computer-Integrated Manufacturing,2009,25(3):689-701.
[6]林海波,王浩,张毅.基于Kinect的无标定人机交互控制系统设计[J].计算机工程与设计,2015,36(2):551-555.
[7]王祎.基于深度图像的具有虚实物体碰撞交互功能的增强现实系统[D].北京:北京林业大学,2015.
[8]吴秦,陈智,周宇旋,等.基于Kinect骨骼跟踪技术的人机交互[J].常州大学学报:自然科学版,2014,26(3):6-12.
[9]李恒.基于Kinect骨骼跟踪功能的骨骼识别系统研究[D].西安:西安电子科技大学,2013.
[10]陈桂,王建红,汤玉东.KUKA机器人运动学仿真与实验研究[J].组合机床与自动化加工技术,2014,(8):94-97.
[11]陈鲁刚,平雪良,徐稀文.平面三自由度机械臂的轨迹规划及仿真[J].工具技术,2011,45(9):26-30.
[12]桂振文.面向移动增强现实的场景识别与跟踪注册技术研究[D].北京:北京理工大学,2014.
[13]高净业.增强现实人机交互系统的研究[D].杭州:杭州电子科技大学,2011.