基于Kinect V2.0的6自由度机械臂控制系统的实现

机器人控制技术的不断发展,人与机器人之间的交互方式正朝着方便、快捷的方向发展。为了实现机器人控制的便捷性,采用自然用户界面(NUI)交互方式,设计了一种基于Kinect V2.0体感传感器的6自由度机械手臂控制系统;该控制系统以VS2015+Kinect SDK2.0为编程环境,编制控制程序;以Kinect V2.0骨骼数据控制6自由度机械手臂;使用人体肩、肘的旋转角度和抓手动作,分别来控制机械手臂的6个关节;通过串口通信方式,以Arduino为下位机硬件核心,验证了该方法的有效性。实验表明,此基于NUI交互方式的控制系统能有效且快捷地控制机械臂进行物体的抓取。

Implementation of 6-DOF Robot Arm Control System Based on Kinect V2.0

With the continuous development of robot control technology, the way of interaction between human and robot is becoming more convenient and faster. In order to implement the convenience of robot control, a Six Degree of Freedom(6-DOF)robot arm control system is designed based on Kinect V2.0 sensor and natural user interface(NUI). A program was designed to control 6-DOF robot arm using Kinect V2.0 skeleton data in the VS2015 and Kinect SDK2.0 environment. The rotation angle of human shoulder and elbow and hand movements were used to control six joints of a mechanical arm respectively. By means of serial communication, the method, in which Arduino was the core of the lower computer hardware, was verified to be valid. Experiments show that the control system based on NUI can control 6-DOF robot arm to grasp the object effectively and quickly.