基于Leap Motion的机械臂交互控制研究

针对多旋转自由度机械臂的便捷控制问题，建立了一种联接体感设备Leap Motion与六自由度机械臂的交互控制系统。在体感输入和机械臂运动响应模型中，利用基于几何方法的机械臂运动学逆解，提出一种增加求解约束，二分搜索末端抓取器最优空间位姿的解法。这种解法运行效率高，求解过程直观，能够在对数级时间内求解。经过仿真和实物实验验证，该解法具备处理大量体感输入数据，实现机械臂实时响应的能力，为非触控式的体感机械臂控制提供了一种可行方案。

Research on manipulator interactive control based on Leap Motion

Aiming at problem of degree of freedom( DOFs ) convenient control of multiple rotating DOFs mechanical arm,an interactive control system connecting somatosensory device,Leap Motion with six DOFs mechanical arm is built. In model for somatosensory input and manipulator motion response,mechanical arm kinematics inverse solution based on geometry is used,propose a solution that add solving constraints and binary search solution of the optimal spatial pose of terminal grabber. This method has high operating efficiency and has intuitive solving process and can solve in logarithmic degree time . The simulation and physical experiment prove that the solution is capable to process large amount of data of somatosensory and implement function of manipulator reaction in realtime,which provides a feasible scheme for untouched somatosensory manipulator control.