Method of Dual Manipulator Human-friendly Control Based on Wireless Motion Capture Technology

摘要

A Human-friendly control method is proposed to solve the problem that traditional inverse kinematics of the motion chain is difficult to be solved by the coupling of chest when waist as the starting of the double arm motion chain. The inertial motion capture module collects the operator's motion and establishes the relative rotation matrix between the modules. The joint angle of the manipulator is calculated by the corresponding relation between the robot joint and the relative rotation matrix. The master-slave control experiment was carried out using the solid-arm humanoid robot. The operator control robot platform completes the interactive action of shaking hands with others, verifies the validity of the method and obtains satisfactory results.