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Real-time motion tracking of cognitive Baxter robot based on differential inverse kinematics
International Journal of Advanced Robotic Systems ( IF 2.3 ) Pub Date : 2021-06-17 , DOI: 10.1177/17298814211024052
Shaobo Li 1, 2 , Xingxing Zhang 1 , Jing Yang 1, 2 , Qiang Bai 2 , Jianjun Hu 3 , Qisong Song 2 , Zhiang Li 2
Affiliation  

The tracking motion of the robot is realized based on a specific robot or relying on an expensive movement acquisition system. It has the problems of complex control procedures, lack of real-time performance, and difficulty in achieving secondary development. We propose a robot real-time tracking control method based on the control principle of differential inverse kinematics, which fuses the position and joint angle information of the robot’s actuators to realize the real-time estimation of the user’s movement during the tracking process. The motion coordinates of each joint of the robot are calculated and the coordinate conversion between man and machine is realized with the combination of the Kinect sensor and the robot operating system. We have demonstrated the robustness and accuracy of the tracking method through the real-time tracking experiment of the Baxter robot. Our research has a wide range of application value, such as automatic target recognition, demonstration teaching, and so on. It provides an important reference for the research in the field of cognitive robots.



中文翻译:

基于微分逆运动学的认知巴克斯特机器人实时运动跟踪

机器人的跟踪运动是基于特定的机器人或依靠昂贵的运动采集系统来实现的。存在控制程序复杂、缺乏实时性、难以实现二次开发等问题。我们提出了一种基于微分逆运动学控制原理的机器人实时跟踪控制方法,融合机器人执行器的位置和关节角度信息,实现对跟踪过程中用户运动的实时估计。结合Kinect传感器和机器人操作系统,计算机器人各关节的运动坐标,实现人机坐标转换。我们通过 Baxter 机器人的实时跟踪实验证明了跟踪方法的鲁棒性和准确性。我们的研究具有广泛的应用价值,如自动目标识别、示范教学等。为认知机器人领域的研究提供了重要参考。

更新日期:2021-06-17
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