基于视觉的机器人手臂动作模仿研究-机械工程专业论文.docxVIP

基于视觉的机器人手臂动作模仿研究 STUDY ON ROBOT ARM GESTURE IMITATION BASED ON VISION ABSTRACT Currently, the research of robotics is developing to intellectualization and versatility. Compared with other kinds of methods used to construct intelligent robot, the method of imitation learning has received more and more attention because of its advantages of higher efficiency, adaptable, and so on. Imitation learning has avoided the complex programming process aiming at specific task, enables the interaction between robot and environment through robot’s own sensor system with what the robot can learn new knowledge. So the imitation enable the robot individual has a higher flexibility. This thesis has done a detailed analysis of the form of the human upper limb joints’ movement and its DOF, established the imitate model of human mechanism by the method of D-H based on the actual requirements of the task, and done a detailed analysis of forward and inverse kinematics of the model, established the imitate model of human upper limb with the software of LabVIEW, reached the requirement of redisplay human upper limb movement. The task of moving object recognition is to extract moving objects from the image. The effect of recognition is of a direct impact on the accuracy of movement imitation. In this paper, the advantages and disadvantages of movement recognition is compared by experiments. According to the characteristics of this topic, select the background image difference method as the method of movement recognition. The refined lines of arm can be obtained by image processing. The recognition of moving arm is achieve. In order to the arm pose information, firstly, this thesis obtains three-points coordinates of the arm by concentric-rings-search method, secondly dose linear fitting about the arm by slope method, obtains four joint angles by four lines, finally inputs these angles to the imitate model of human mechanism, finish the imitation to human upper limb movement. In order to dea