| 黄祖良，邓琛*，张琴舜，丁大民，王朝斌.体感交互式拟人手臂机器人[J].轻工机械,2016,34(1): |
| 体感交互式拟人手臂机器人 |
| Humanoid Robot Arm of Somatosensory Interaction |
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| DOI：IO.3969/j.issn.1005-2895.2016.01.002 |
| 中文关键词: 拟人手臂 体感交互：Kniect体感摄像机 PID控制 |
| 英文关键词:anthropomorphic arm somatosensory interaction Kinect somatosensory camera PID control |
| 基金项目:国家自然科学基金资助（61201244）；上海T程技术大学研究生创新项目（E1-0903 -14-01036） |
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| 中文摘要: |
| 针对目前人体动作同步机器人造价高，使用过程繁琐，需要穿戴多种传感器设备等缺点，设计并研制了一种不需
要穿戴传感器的人体手臂动作同步机器人。介绍了机器人的结构和系统组成，给出了Kinect读取和共享数据以及转换
为机械臂可用数据的方法，设计PID结合PWM脉宽调速的控制驱动模块，完成了机械臂控制系统的软件。结果表明该
人体动作同步机器人在未经培训的操作者指挥下，能够从不同初始位置完成人类肢体动作发出的指令，并且精度较高。
这一研究可为无传感器肢体交互智能机器人研制提供参考 |
| 英文摘要: |
| Due to some shortcomings of commercial passive robot used at present. such as high cost, complex steps to
use . and the users have to wear lots of sensors. etc , a set of passive robot without wearing anything based on Kinect was
proposed. The structure and composition of the robot system were introduced. The method to read and share man body
data was developed. The theory composed by PID control and PWM was used in the robot system. The manipulator
control system software was also put forward. The result shows that the robot can operate training command , complete
the action of human. which do not have to accept the training or wear any sensors. and this research can provide
reference for the development of intelligent robot without sensor. |
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