服务机器人的社会性行为是体现其价值的关键所在,对于Care-o-bot4服务机器人,为其设计一套简单的手势动作,使它能够更好地为人们服务.在机器人手势交流动态轨迹规划设计的研究中,机器人的逆运动学问题至关重要,给出了固定第七关节轴将其维度降低的方法.上述方法能够大大降低和简化逆运动学问题的复杂度和计算量.对于手势规划设计过程中的姿态,则给出了单位四元素法,有效解决了万向节锁死问题和姿态间的平滑过渡问题.最后用ROS来对规划设计的服务机器人手势进行了实验,实验结果表明服务机器人可以按照预期的要求进行手势的动作.%The social behaviors of service robot is the key to reflect it's value.For Care-o-bot 4 service robot,we plan to design a set of simple gesture library in order to help the service robot to provide people with a better service.In the study of the service robot's communicated gesture,the inverse kinematics of the robot is very important.We used the method of fixing the seventh joint axis to reduce the redundant.The method can greatly reduce the com plexity and computation of the inverse kinematics.For the orientation of the gesture's process,we used unit quaternion to describe it,and the method can effectively resolve gimbal lock and the smooth transition of orientation problem.Lastly,we used ROS to simulate the gesture.Simulation results show that service robot carry out the gestures in accordance with the expected actions.
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