| 基于数字罗盘的移动机械臂平台开门系统研究 |
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| 引用本文： | 吴若鸿,吴怀宇,钟 锐. 基于数字罗盘的移动机械臂平台开门系统研究[J]. 科学技术与工程, 2014, 14(21) |
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| 作者姓名： | 吴若鸿 吴怀宇 钟 锐 |
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| 作者单位： | 武汉科技大学 信息科学与工程学院,武汉科技大学 信息科学与工程学院,武汉科技大学 信息科学与工程学院 |
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| 基金项目： | 国家自然科学基金资助项目(61075087,全区域覆盖可拓展模块化移动机械臂控制系统研究 ), 国家自然科学基金资助项目(61203331,基于灵长目动物视觉认知原理的旋翼无人机自主规划方法研究 ) |
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| 摘 要： | 开门研究对于拓展机器人工作环境具有重要意义。本文将体感传感器与数字罗盘引入移动机械臂平台控制系统中,利用体感传感器获取门把手的距离信息,利用数字罗盘获取平台的方位角信息,在VS2008环境下编写了基于体感传感器和数字罗盘的控制软件,使移动机械臂平台能按照正确的运动轨迹接近门把手并完成开门动作。开门实验结果表明,引入数字罗盘的开门方法提高了移动机械臂平台的开门成功率。
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| 关 键 词： | 开门 数字罗盘 移动机械臂 方位角 |
| 收稿时间： | 2014-03-07 |
| 修稿时间： | 2014-03-28 |
Research on door opening system by mobile manipulator based on digital compass |
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| Wu Ruohong,Wu Huaiyu and Zhong Rui. Research on door opening system by mobile manipulator based on digital compass[J]. Science Technology and Engineering, 2014, 14(21) |
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| Authors: | Wu Ruohong Wu Huaiyu Zhong Rui |
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| Affiliation: | 1 School of Information Science and Engineering,Wuhan University of Science and Technology,1 School of Information Science and Engineering,Wuhan University of Science and Technology |
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| Abstract: | Research on door opening is important for extending the working environment of robot. Kinect and digital compass are introduced on the control system of mobile manipulator platform, the distance information of door handle is obtained by kinect, the azimuth of platform is obtained by digital compass, the control system software is designed under the environment of VS2008 based on kinect and digital compass, which will make the mobile manipulator move to the door handle by the right motion trajectory. Experiment results show that the door opening success rate of mobile manipulator is improved by this method with digital compass. |
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| Keywords: | mobile manipulator door opening digital compass azimuth |
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