Pose Mapping Method for Baxter Manipulator Based on Arm Angle
For the applications of robotic remote control,the systematic theory is lacking in parame-ter determination of task space mapping algorithm.In this paper,a systematic fixed scaling factor mapping algorithm and orientation mapping algorithm was proposed to make the mapped human hand workspace filling the manipulator workspace as much as possible.To solve the problem of missing arm angle information in task space mapping,an inverse kinematics method based on golden section method was presented.The concept of arm angle was successfully extended to SRS(Spherical-Roll-Spherical)robotic arm with link length,like Baxter.Finally,to reduce the random jitter of Kinect camera,an algorithm based on Kalman filter was proposed.Experiments showed that the inverse ki-nematics algorithm could track the desired trajectory correctly with the average time of 2.8 ms.Bax-ter manipulator could track the desired end effector trajectory with the average error of 9.04 mm a-long x direction,10.49 mm error along y direction,and 6.49 mm error along z direction.Moreover,the manipulator could change the configuration adaptively based on human arm angle with the aver-age tracking error of 0.74°.
teleoperationtask space mappingarm angleKalman filter
万方数据
维普
