关键词: 机械臂, 人机交互, 实时控制, 运动捕捉系统

Abstract: In consideration of the delaying control caused by the complexity of inverse kinematics of 7-DOF redundant robots, a new control method of human-robot interaction is presented. A method to transfer data between motion capture system and Robai manipulator system in real time is designed. Under Windows 7, the corresponding server and client can be set up by using VC of Microsoft Visual Studio and the data among different systems can be exchanged and transported in real time through data processing algorithm. Compared with the traditional solution of inverse kinematics of robot, a comprehensive method is adopted to use the information of different human arm positions in the motion capture system to calculate the manipulator’s joint angle and analysis solution is derived. It can reduce the amount of calculation of the controlling system and the real-time control of the manipulator is realized, so that it meets the need of synchronization of the experimenter and Robai manipulator in real time. The validity of the method is verified and the satisfactory results are achieved through the experiments.

Key words: Human-robot interaction, Manipulator, Motion capture, Real-time control