Biomimetic Robot Control and Teaching Reproduction Based on Data Gloves
Author of the article:LIWeifeng;ZHAND Jiuchang;NING Linxiang;LIAO Dunming
Author's Workplace：Zhejiang Hongma Casting Co.,Ltd.,Pinghu 314200,China;School of Material Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;Zhejiang Ouyeda Machinery Manufacturing Co.,Ltd.,Huzhou 313000,China
Key Words：bionic robot master-slave control teaching reproduction data glove
Abstract：
In this paper,the master-slave control and teaching reproduction of under-actuated bionic manipulators are studied.The experimental platform of bionic robot control system is constructed.The data of human hand movement is collected through data gloves,and the motion information is converted into manipulator motion command by joint angle mapping.The communication sends the motion instruction to the robot to realize the real-time online master-slave control;then,the online teaching operation of the bionic robot is completed by the master-slave control,and the motion instruction during the teaching is stored,and the sequential reading execution motion command can be reproduced.Teaching action.Finally,the accuracy and reliability of the master-slave control and teaching reproduction of the design are verified by gesture motion test.
