Research on Motion Control System of 6-DOF Robotic Arm
Robot control technology is developing rapidly on a global scale with the way of interaction between human and robot towards two directions of convenience and intuition. In this paper, the operator’s arm position and motion state are represented by the motion sensing, which providing the necessary information for the robot motion control. This paper studies the interactive 6-DOF robotic arm control system that combining visual and wearable leap motion device. This system uses human body’s rotation angle of the shoulders and elbows to control the 6 joints of the robotic arm, and the gestures to claw. This experiment platform was built with data and instructions were transmitted wirelessly. The experimental results show that the interactive robot with integrated visual and wearable leap motion device can effectively and intuitively control the robotic arm for object grabbing.
KeywordsRobot control Motion sensing Motion control 6-DOF robotic arm control system
This work was supported partly by district science foundation program of a study on soft grab method based on active excitation and state recognition of manipulator system (60663005) and talent introduction scientific research project of Guizhou University named a research on H-inf comprehensive control of moving objects (201801).
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