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工程设计学报
工程设计学报  2020, Vol. 27 Issue (2): 269-278    DOI: 10.3785/j.issn.1006-754X.2020.00.019
整机和系统设计     
助老服务机器人设计及仿人运动研究
卢佳伟1,2, 张秋菊1,2, 赵宏磊1,2
1.江南大学 机械工程学院， 江苏 无锡 214122;
2.江苏省食品先进制造装备技术重点实验室， 江苏 无锡 214122
Design and human-like motion research of service robot for the elderly
LU Jia-wei1,2, ZHANG Qiu-ju1,2, ZHAO Hong-lei1,2
1.School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;
2.Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment ＆Technology, Wuxi 214122, China
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摘要：

针对老年人在日常生活中存在行动不便与认知障碍等问题，设计了一款操作简便、功能丰富的助老服务机器人。为降低助老服务机器人的操作难度，增强用户的体验性，通过建立人体手臂与机器臂的空间关节映射模型，实现了机械臂的仿人运动控制。首先，按照人体手臂与机械臂的结构及自由度分布情况初步建立人机关节映射模型，采用蒙特卡罗方法，对人体手臂和机械臂的工作空间进行仿真分析与对比。然后，针对人体手臂与机械臂在空间结构以及自由度分布上的差异导致的机械臂工作空间较小且无法完全复现人体手臂运动的问题，提出了相应的改进方案，并重新建立了人机关节映射模型；通过Kinect视觉传感器获取人体关节的空间位姿信息，并以人体左肩关节为原点建立人体坐标系，采用空间向量法及基于肘部约束的人臂逆运动学解法求解人体关节的位姿变化。最后，搭建了助老服务机器人仿人运动实验平台，对改进后的人机关节映射模型和相关控制算法的有效性及合理性进行了验证，实验结果表明关节重映射后机械臂能高度还原人体手臂的动作。研究成果对提高机器人的交互能力具有借鉴意义，对降低机器人的操作难度效果明显，也为后续研究更加复杂的仿人运动机器人奠定了基础。
关键词： 助老服务机器人;  人机关节映射;  工作空间;  Kinect;  仿人运动    
Abstract:

Problems of dyskinesia and cognitive impairment for the elderly are very common. To solve these problems，an easy-to-use and feature-rich service robot for the elderly was designed. To Reduce the operation difficulty of the service robot for the elderly, and optimize the user’s experience, the human-like motion control for the manipulator was achieved by establishing the spatial joint mapping model between human arm and manipulator. Firstly, according to the structure and degree of freedom distribution of human arm and manipulator, the human-machine joint mapping model was initially established. The working space of human arm and manipulator was simulated and compared using the Monte Carlo method. Because of the obvious difference in the spatial structure and degree of freedom distribution between human arm and manipulator, the working space of manipulator was too little, and the manipulator couldn’t imitate the movement of human arm. So, a corresponding improved scheme was proposed, and the human-machine joint mapping model was reestablished. The spatial pose information of the human joints was collected using the Kinect visual sensor， and the human coordinate system with the human left shoulder joint as the origin was established. The spatial vector method and the inverse kinematics method of human arm based on elbow constraint were used to solve the pose changes of human joints. Finally, an experimental platform for service robot for the elderly was established, and the validity and rationality of the improved human-machine joint mapping model and related control algorithm were verified. The experimental results showed that the manipulator could highly revert to the human arm's motion after joint remapping. The research results can be used for reference to improve the robot's interactive ability, and have a significant effect on reducing the robot operation difficulty, which also lays a foundation for the follow-up research on more complex human-like motion robot.
Key words: service robot for the elderly    human-machine joint mapping    workspace    Kinect    human-like motion
收稿日期: 2019-07-18 出版日期: 2020-04-28
:  TP 242  
基金资助:

国家自然科学基金面上项目(51575236)
通讯作者: 张秋菊（1963—），女，四川乐至人，教授，博士生导师，博士，从事机器人控制与应用、数控系统、动态优化设计等研究,E-mail:zhangqiuju@jiangnan.edu.cn   
作者简介: 卢佳伟(1994—)，男，天津人，硕士生，从事机器人控制与应用、机电控制技术研究，E-mail:1299034027@qq.com，https://orcid.org//0000-0002-4894-9448
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引用本文:

卢佳伟, 张秋菊, 赵宏磊. 助老服务机器人设计及仿人运动研究[J]. 工程设计学报, 2020, 27(2): 269-278.

LU Jia-wei, ZHANG Qiu-ju, ZHAO Hong-lei. Design and human-like motion research of service robot for the elderly. Chinese Journal of Engineering Design, 2020, 27(2): 269-278.

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https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2020.00.019    或    https://www.zjujournals.com/gcsjxb/CN/Y2020/V27/I2/269

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