Simulation research on the reappearance technology of manipulator trajectory based on Marker ball

Abstract

In order to simplify the method of human-computer interaction, through the analysis and research of the motion capture system and the robot arm system, a motion imitation platform based on the Marker ball motion capture system combined with the six-axis robot arm was built. The collected coordinate data is obtained through the inverse kinematics solution of the robot to obtain the joint Angle data of the manipulator, and the trajectory of the joint Angle is smoothed by MATLAB simulation software.The simulation was carried out based on the RoBoDK simulation environment. The simulation experiment results showed that the motion reduplication method could be applied to the imitation of human arm movements by the robot arm, and the motion accuracy could meet the working requirements, and the motion imitation effect was good.