Simulation research on the reappearance technology of manipulator trajectory based on Marker ball

Fenglian Qi; Xiangwei Song; Guoying Zhang

doi:10.1117/12.2681832

16 June 2023 Simulation research on the reappearance technology of manipulator trajectory based on Marker ball

Fenglian Qi, Xiangwei Song, Guoying Zhang

Proceedings Volume 12639, Third International Conference on Mechanical Design and Simulation (MDS 2023); 126393J (2023) https://doi.org/10.1117/12.2681832
Event: Third International Conference on Mechanical Design and Simulation (MDS 2023), 2023, Xi'an, China

Abstract

In order to simplify the method of human-computer interaction, through the analysis and research of the motion capture system and the robot arm system, a motion imitation platform based on the Marker ball motion capture system combined with the six-axis robot arm was built. The collected coordinate data is obtained through the inverse kinematics solution of the robot to obtain the joint Angle data of the manipulator, and the trajectory of the joint angle is smoothed by MATLAB simulation software. The simulation was carried out based on the RoBoDK simulation environment. The simulation experiment results showed that the motion reduplication method could be applied to the imitation of human arm movements by the robot arm, and the motion accuracy could meet the working requirements, and the motion imitation effect was good.

Citation Download Citation

Fenglian Qi, Xiangwei Song, and Guoying Zhang "Simulation research on the reappearance technology of manipulator trajectory based on Marker ball", Proc. SPIE 12639, Third International Conference on Mechanical Design and Simulation (MDS 2023), 126393J (16 June 2023); https://doi.org/10.1117/12.2681832

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