基于人机工程学的虚拟机械手臂运动控制方法

考虑到机械手臂在运动时会受到关节阻尼的作用,使手臂控制的全局稳定性降低的问题,提出一种基于人机工程学的虚拟机械手臂运动控制方法.首先,利用人机工程学构建人体模型架构,将其分为架构层、形态层与尺寸层,并以参数化形式描述表示;然后,通过解析人体模型获取各个关节的连接作用与功能,并计算虚拟机械手臂的运动坐标和运动矢量;再根据雅克比矩阵计算得到机械手臂末端的运动速度;最后,通过构建模糊逻辑系统得到控制模糊隶属度函数,并拟定为输入量输入至运动控制器内,完成对机械手臂的运动控制.

Motion Control Method of Virtual Manipulator Based on Ergonomics

Considering that the robot arm will be affected by joint damping when moving , which will reduce the global stability of the arm control , this paper proposes a virtual robot arm motion control method based on ergonomics． Firstly , the structure of human body model is constructed by ergonomics , which is divided into structure layer , form layer and dimension layer , and described and expressed in parametric form．Then , by analyzing the human body model , the connection and function of each joint are obtained , and the motion coordinates and motion vectors of the virtual robot arm are calculated．Then , the motion velocity of the end of the robot arm is calculated according to the Jacobian matrix．Based on this , the fuzzy membership function of the control is obtained by constructing the fuzzy logic system , and the proposed input quantity is input into the motion controller to complete the motion control of the robotic arm．