基于人臂运动机理的机械臂运动控制理论与实验研究

项目名称： 基于人臂运动机理的机械臂运动控制理论与实验研究

项目编号： No.51475016

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 赵京

作者单位： 北京工业大学

项目金额： 82万元

中文摘要： 随着机器人越来越接近人类，对机器人提出了更高的要求。仿人运动是其中重要的一项，既可以给人类使用者营造安全舒适的合作环境，也可以进一步提高人机合作的效率。本项目针对拟人机械臂的仿人运动控制问题，以人臂为研究对象，首先对人臂运动过程进行研究，探索人臂运动规律，分析运动过程中不同时刻下的人臂运动状态，确定人臂运动模型。在此基础上，对不同任务下的冗余度分解机理，肩部和操作对象之间相对位置的选择机理，人机交互安全性原则和双臂对抗中的制胜策略机理展开研究。同时基于快速扩展随机树算法专门针对仿人运动规划这一应用背景，建立新的规划算法和完整的拟人机械臂仿人运动的综合评价体系。最后，针对友好、协作特点，从服务型机器人和新型工业机器人两方面进行实验研究，并验证理论结果的准确性。项目研究成果对阐明人臂运动内在机理，揭示人臂运动规律具有重要意义，为拟人臂的仿人运动控制及应用奠定理论基础。

中文关键词： 人臂运动；机械臂；仿人运动控制

英文摘要： As the application of robots is getting closer to human, higher requirements to robots are put forward. Human-like motion is one of the important issues, especially to the humanoid service, advanced industrial robots and assistive robots. The first two kinds of robots will work in human environment and directly interact with human. Human-like motion can improve human-robot interaction and increase the efficiency. As to assistive robots, human-like features will greatly improve the treatment outcomes. In this project, human-like motion control for robotic arms is studied to make the robotic arms perform manipulation tasks in human-like manner autonomously. Firstly, human arms are taken as the research object. Its motion process is researched and the movement rules are explored. By analyzing the motion states in different moments, a human arm motion model is determined. Secondly, on the basis of those, the redundancy resolution of human arm in different tasks, the selecting mechanism of the relative positions between shoulder and object, the security of the man-machine interaction and the mechanism of the winning strategy in dual arm competition are studied respectively. Then, new planning algorithms are proposed for motion planning of human-like movements based on the Rapidly-Exploring Random Trees (RRT) and the evaluation systems of robotic arms for accomplishing manipulation tasks are built. Last, the research results are verified through the experiments of the two applications of humanoid service robots and advanced industrial robots. The innovations of this project are as follows: 1) New thought and new method. In the traditional researches of robotic arms, the objects of study are always static, but this project does the research on the human arm motion process. 2) New human performance measures and new algorithms for human-like motion control. In this project, new hypotheses, models and human performance measures are proposed to study the underlying mechanisms of human arm movements. Furthermore, new motion planning algorithms are proposed to make the path of the end-effector and the arm postures of robotic arms resemble human arm motions. 3) The new concept of dual arm competition. Inspired by Tai chi push hands, this project proposes a new model of dual arm operation named dual arm competition, to study the associated new problems.

英文关键词： human arm movements;robotic arms;human-like motion control