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摘要: 设计了一种遥操作护理机器人系统，为实现从端同构式机器人的随动运动控制，对主端操作者人体姿态解算方法进行了研究.首先，构建由惯性传感单元构成的动作捕捉系统，对用作从端机器人动作指令的操作者人体姿态信息进行采集，采用四元数法对人体运动原始数据进行初步求解.其次，将四元数法得到的姿态数据解算成依据仿人结构设计的护理机器人各关节运动的目标姿态角，实现人体姿态到机器人动作的同构性映射.最后，为验证本文所提姿态解算方法的性能，设计了操作者控制护理机器人完成递送和拿取药瓶动作的实验.结果表明，本文姿态解算方法的解算性能与参考系统基本相同；在操作者动作姿态快速变化的时间段，系统仍可获得较高精度的目标姿态数据，其误差在动态条件下依旧能保持在2%以下；护理机器人可较好地实时复现操作者的人体动作.本文方法能满足机器人进行一般护理作业时对人体姿态数据处理的快速性和准确性要求.Abstract: This paper presents a telerobotic nursing system using inertial navigation information. In order to realize following control of the slave nursing robot, an attitude solution method is proposed for operator attitude in the master system. First, a motion capture system based on inertial units is built. To meet real-time demand, quaternion method with relatively low computation is performed in attitude solution for human data acquired from the master system, and then data fusion and compensation are conducted. Second, the attitude data obtained by quaternion method are further calculated as attitude of each joint of the slave robot with a humanoid structure, and thus an isomorphic motion mapping from human operator to slave robot is completed. Finally, experiments of taking and delivering bottle of the telerobotic system are described, and solution performance analysis on the attitude data from the master motion capture system are presented. The results show that there is a small measuring deviation with an absolute error less than 2% between the proposed method and the reference system. The attitude solving method can satisfy the requirements for fast and accurate attitude processing when the slave robot conducts a nursing task by following the nurse operator.1) 本文责任编委 赵新刚
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图 8 遥操作护理机器人系统的药瓶抓取和递送实验
Fig. 8 Experiment on delivering and taking medicine bottle of telerobotic nursing system
表 1 对应机械臂各关节的解算姿态数据精度
Table 1 Average errors of five calculated joint angles
关节角 角度变化均值(°) 比较误差均值(°) 相对误差 肩部俯仰角 4.653 0.594 0.127 肩部横滚角 4.02 0.451 0.112 肩部偏航角 4.942 0.722 0.146 肘部俯仰角 2.145 0.547 0.255 肘部横滚角 3.581 0.695 0.194 
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