Double-arm moving and taking robot simulation experiment platform and testing method thereof

Abstract

The invention relates to a double-arm moving and taking robot simulation experiment platform and a testing method thereof. The platform comprises a tail end executing mechanism, a control system, a brain wave instrument and a myoelectricity sensor, and the tail end executing mechanism is composed of a left arm and a right arm, wherein the axis of the left arm is parallel to the axis of the right arm, the left arm and the right arm can do the plane movement in the vertical plane perpendicular to the axis, in other words, each arm has two freedom degrees in the vertical plane, and the two freedom degrees include the up-down horizontal movement and the left-right horizontal movement. The two-freedom-degree horizontal movement of the two arms in the vertical plane perpendicular to the axis isexecuted through corresponding motors. Left arm engineering skin and right arm engineering skin are attached to the left arm and the right arm correspondingly, and the front positions and the rear positions of the two arms are provided with pressure sensors used for detecting the pressure borne by the arms. The control system comprises an industrial personal computer and a PMAC. According to the method, under the situation that different human body model parameters are input, the double arms can meet the requirements of transversely-embraced human bodies for dynamic balance, the safety degree,the comfort degree and the like.

Description

technical field [0001] The invention relates to the technical field of transfer nursing robots, in particular to a dual-arm transfer robot simulation experiment platform and a testing method thereof. This method is used to solve the problem between the human body comfort and the balance of the arms when the dual-arm transfer robot picks up different human bodies. Background technique [0002] With the gradual increase of the aging population, the life care needs of the disabled and semi-disabled elderly are increasing day by day. Nursing mainly includes living care such as eating service, transfer and handling, and personal hygiene. Among them, transfer and handling refers to physical labor such as transferring the disabled care receiver from the bed to the wheelchair, or from the wheelchair to the bed or toilet. At present, whether it is home care or nursing institutions such as hospitals and nursing homes, the transfer and transportation are basically done manually, whic...

AI Technical Summary

Problems solved by technology

Due to the complexity of the human body structure, problems such as excessive data processing, long recognition time, and low recognition accuracy occur during image processing.

At the same time, when using a vision-based gesture recognition system on a dual-arm transfer nursing robot, the camera needs to be installed at or near the head of the robot. gesture recognition accuracy

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