基于飞行时间传感器的冲击波机器人姿态控制
Attitude control of shockwave robot based on time-of-flight sensor
李泽光 1熊根良 1禹超 2吕咸吉 1尹鹏1
作者信息
- 1. 上海工程技术大学机械与汽车工程学院,上海 201620
- 2. 上海钧控机器人有限公司,上海 200000
- 折叠
摘要
在按摩养生服务行业及肌肉拉伤理疗领域,用机械臂代替人工,不仅解放了人力,还能更加系统、精确地控制理疗设备的姿态.冲击波理疗需要与人体表面接触且以一定的姿态工作,如法线方向,而控制机器人的姿态始终从人体面法向进行工作是一大难点.基于飞行时间传感器提出冲击波机器人姿态控制,将多个VL6180X传感器组成测距传感器阵列安装于机械臂末端,测量机器人到人体表面的距离获得人体表面位置信息,根据该信息使用最小二乘法实时构建人体表面模型,控制机器人姿态,从法线方向对人体进行理疗按摩.
Abstract
In the service industry involving massage and health preservation,as well as the field of physical therapy for muscle strains,replacing manual labor with robotic arms can not only free up manpower,but also control the posture of physical therapy equipment more systematically and accurately.Shock wave therapy requires contact with the human body surface and operates in a certain posture,such as normal direction,and it is a major difficulty to control the robot posture to work from the normal direction of human body at all the times.The posture control of shock wave robot based on time-of-flight sensors was proposed,ranged sensor array with multiple VL6180X sensors was mounted on the end of the robot arm,and the distance from the robot to the human surface was measured to obtain the human surface position information.Based on this information,a human surface model was constructed in real time using the least squares method to control the robot posture and perform physiotherapy massage on the human body from the normal direction.
关键词
VL6180X测距传感器阵列/ArduinoUNO微控制器/最小二乘法/机械臂姿态控制Key words
VL6180X range sensor array/Arduino UNO microcontroller/least squares method/robotic arm posture control引用本文复制引用
基金项目
国家自然科学基金(61763030)
国家重点研发计划(2018YFB1305300)
上海市地方高校能力建设项目(23010501600)
出版年
2024
NETL
NSTL
万方数据