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Abstract .On the issue of joints mapping between human arm and manipulator in the area of human–machine nature interaction, a joint direct teaching scheme for 7-DOF humanoid manipulator is proposed. The approach uses Kinect sensor to obtain the position coordinate of the joints of human body, and then proposes an inverse kinematics method of redundant 7-DOF for human arm based on elbow constraints. To solve the trembling problem of humanoid manipulator caused by tracking performance limition of Kinect, a filtering algorithm is proposed to smooth the joint motion trajectory. In order to verify the feasibility and effectiveness of the approach, a experient platform based on MOTOMAN is set up and relevant experients are conducted.
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Received: 26 March 2017
Published: 18 July 2017
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Corresponding Authors:
ZHANG Fu-Hai
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