轮椅机器人异构主从臂关节空间中的运动映射研究

摘要

轮椅机器人系统是一种用于帮助有肢体运动困难的老年人/残疾人完成各种日常生活操作的辅助机器人,研究异构主从臂之间的运动映射算法有助于提高此类机器人系统控制操作的便捷性和直观性.本文以人手臂作为通用主臂,异构的7DOF机械臂作为从臂,采用穿戴式人体运动运动捕捉系统获取人手臂的关节运动数据,然后根据从机械臂的构型特征将其关节分为肩、肘、腕3组,研究在关节空间中由主臂到从臂的运动映射算法以及从臂的自主避障算法,最终实现符合操作者日常习惯的异构从臂运动控制.本算法具有如下两个突出的优点:(1)老年人/残疾人可以根据生活直觉和日常习惯来控制机械从臂的运动,操作疲劳程度和出错率得到显著降低;(2)轮椅机器人在家庭等非结构化和受限空间中作业时的自身安全性得到显著提高.上述优点对于轮椅机器人系统在助老助残中的应用具有非常重要的意义.%Wheelchair-Mounted Robotic Arm (WMRA) is a typical assistive robot system for the elder/ disabled people.This paper studies the motion mapping from a human master arm to a heterogeneous slave WMRA for manipulation in activity of daily livings.The motion of the human master arm is measured via a wearable motion capture system,and then the motion captured data is transformed into the joint space of the heterogeneous slave robot arm using a corresponding joint-set motion mapping algorithm,and an autonomous obstacle avoidance algorithm is also developed,as a result,the motion of the heterogeneous slave WMRA can be easily controlled by the user via the motion of his/her arm.This method possesses two remarkable advantages that are vital to the application of the WMRA systems: the elder/disabled user can operate the WMRA system intuitively and conveniently,and the fatigue degree and error rate of the user can be significantly reduced;the safety of WMRA in an unstructured and constrained home environment can be significantly improved.