Applying Optical Motion Capture to Teleoperation Control of Manipulator
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摘要: 针对传统机械臂的遥操作控制直观性不强、操作繁琐等问题，本文提出了一种基于光学运动捕捉的机械臂遥操作控制方法。建立了运动捕捉系统与机械臂的标定模型，实现了坐标系之间的转换；在ROS-kinetic中建立服务器和客户端，实现了不同系统数据之间相互转化与实时传输。通过在引导机械臂末端粘贴标记点、构建刚体的方式进行跟踪试验，结果表明该方法降低了主端的复杂程度，在保证从端操作精度的情况下，可实时地完成六自由度机械臂遥操作任务，方法操作简单、可移植性和可扩展性强。Abstract: Because the teleoperation control of a traditional manipulator has poor intuition and cumbersome operation, the teleoperation control method of a manipulator based on optical motion capture is proposed in this paper. The calibration model of motion capture system and manipulator is established, and the transformation between coordinate systems is realized. The server and client are established with the kinetics of a robot operating system to realize the mutual transformation and real-time transmission of data between different systems. The results show that this method reduces the complexity of the master end and can complete the teleoperation task of the 6-DOF manipulator in real time under the condition of ensuring the operation accuracy of the slave end. The method has the advantage of simple operation, strong portability and expansibility.
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Key words:
- motion capture /
- robot operating system(ROS) /
- teleoperation /
- manipulator
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表 1 UR5机械臂D-H参数
Table 1. D-H parameters of UR5 robotic arm
i ai/mm αi/（°） di/mm θi/（°） 1 0 90 89.5 0 2 −425 0 0 −90 3 −392 0 0 0 4 0 90 109.2 −90 5 0 −90 94.65 0 6 0 0 82.3 0 
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表 2 运动响应时间
Table 2. Motion response time
单点跟踪试验次数 算法计算时间t/s 运动响应时间T/s 1 0.007694 0.48 2 0.005931 0.62 3 0.009961 0.69 4 0.007540 0.58 5 0.007053 0.36 6 0.006251 0.72 7 0.005666 0.58 8 0.008269 0.66 9 0.004213 0.32 10 0.006933 0.49
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