基于Kinect骨骼信息的机械臂体感示教研究
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摘要
目前机械臂示教方式单一、操作繁琐。近年来,体感交互技术的日渐成熟,利用微软公司开发的Kinect,并结合Unity3D以及WPF技术。设计出一款能有效抓取人体骨骼3D坐标并通过TCP/IP技术实时控制机械臂运动、抓取的系统,实现机械臂高精度、易操作的示教。
For the current robot teaching method is single,cumbersome and other issues.And in recent years,somatosensory interaction technology is maturing.This paper uses Kinect developed by Microsoft Corporation,and combines Unity3 D and WPF technology,and designs a system that can effectively grasp the 3 D coordinates of the human skeleton and control robotic arm motion and grasp in real time through TCP/IP technology.Robot arm high-precision,easy-to-use teaching.
For the current robot teaching method is single,cumbersome and other issues.And in recent years,somatosensory interaction technology is maturing.This paper uses Kinect developed by Microsoft Corporation,and combines Unity3 D and WPF technology,and designs a system that can effectively grasp the 3 D coordinates of the human skeleton and control robotic arm motion and grasp in real time through TCP/IP technology.Robot arm high-precision,easy-to-use teaching.
引文
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[7]Nagel.C.C#高级编程[M].9版.北京:清华大学出版社,2014:769-771
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[2]张爱红,张秋菊.机器人虚拟示教的实现方法[J].机床与液压,2003,4:149-151,166
[3]陈鹏艳,王洪源,陈慕羿.Unity3D中的Kinect主角位置检测与体感交互[J].沈阳理工大学学报,2017(2):17,21
[4]党宏社,侯金良,强华,等.基于Kinect的人体动作识别算法研究[J].电子电路设计分析及应用,2017(5):1309-1313
[5]韩峥,刘华平,黄文炳,等.基于Kinect的机械臂目标抓取[J].智能系统学报,2013(2):149-155
[6]林海波,梅为林,张毅,等.基于Kinect骨骼信息的机械臂体感交互系统的设计与实现,2013,2:157-160,176
[7]Nagel.C.C#高级编程[M].9版.北京:清华大学出版社,2014:769-771
[8]邵泽燕,邵泽健,陈成军,等.基于Kinect的机械臂增强现实示教研究[J].计算机技术与自动化,2017,36(2):68-72