如何控制机器人手臂。 [英] How to control a robot arm.

问题描述

大家好。

 

我正在开发一个使用  ssc-32控制 的项目; Servos。手臂是这样的：  http://www.lynxmotion.com /c-126-al5b.aspx

I am working on a project that is using a ssc-32 to control the Servos. The arm is this one: http://www.lynxmotion.com/c-126-al5b.aspx

 

我得到的程序大部分工作和来自电脑到ssc-32。但是，我的问题是如何编写一个可以让手臂自由移动的代码，就像我移动手臂一样。

I got the program working for the most part and the comucation from the computer to the ssc-32. However, my question is how can i write a code that will have the arm moving freely as if i was moving my arms.

 

例如：如果我挥手告别，我想让机器人手臂挥手告别。

For example: If i am waving goodbye, i want the robot arm wave goodbye at the same time.

推荐答案

你见过吗？ SkeletalViewer样本？它可以用于C ++和C＃（安装到C：\ Users \Public \Documents \ Mysoftoft研究KinectSDK Samples \ NUI \SkeletalViewer），它显示了如何获取人体的骨骼关节，这样当你移动
您的手臂骨架关节位置应相应更新。

Have you seen the SkeletalViewer sample? it's available for both C++ and C# (installed to C:\Users\Public\Documents\Microsoft Research KinectSDK Samples\NUI\SkeletalViewer), and it shows how to obtain skeleton joints for human body such that when you move your arms the skeleton joint positions should update accordingly.

您应该能够将这些关节的运动转换为机器人手臂的运动，尽管您可能需要将关节​​位置转换为关节到关节的矢量和角度，并应用平滑功能，以便向机器人发出稳定的控制命令
。具体情况取决于您的具体设置。

You should be able to convert movement of these joints into movement of your robot arm, although maybe you'll have to convert joint positions into joint-to-joint vectors and angles and apply a smoothing function in order to issue stable control commands to your robot. Specifics will depend on your specific setup.

Eddy

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