【摘要】 机器人示教是指人通过某一设备或方式实现对机器人作业工作任务的编程,该过程通常采用示教器操作或离线编程的方式。传统的示教方式需要操作者具备相关的专业知识和经验,编程方式烦琐且不直观。针对这一问题,开发了一套基于肢体运动信息的机器人示教操作系统。该系统通过开发的数据采集模块获取人体手臂运动信息和表面肌电信号,分别用于解算肢体末端在空间中的位置信息、解码操作者的手部动作意图,为工业机器人系统提供运动控制信息和末端操作指令。对该系统进行了系统的测试,验证了系统在末端位置跟踪以及手势识别等方面的优良性能。开发的机器人示教操作系统,有望简化机器人示教操作流程,降低开发难度,提供一种更加直观有效的示教方式。更多还原

【Abstract】 Robotic teaching is defined as the programming of robot operation through a certain device or method,which,in most cases,refers to demonstrator or offline programming. The traditional teaching method tends to be intricate and non-intuitive since it often requires the relevant expertise and experience for the operator. In response to this problem,this study develops a robot demonstration and manipulation system based on limb motion information. The system obtains both limb kinematics and surface electromyography( s EMG)signals,applied to calculate positions of limb end and to decode the motion intensions of operator,respectively,which can provide control information for industrial robots. Furthermore,the system has been tested to verify its proper performance in position tracking and gesture recognition. In this way,the robot teaching and manipulation system developed in this study is expected to simplify the process and reduce the difficulties of development,thus providing a more intuitive and effective teaching method.更多还原