洗浴机器人擦洗轨迹规划与实时控制

Planning and Real Time Control of Cleaning Trajectory for Bathing Robot

摘要: 针对目前辅助洗浴机器人无法对人体复杂的表面轮廓进行精准擦洗的问题，本研究提出了一种机械臂自适应于人体表面轮廓实时轨迹规划的擦洗控制方法。首先采用三次B样条插补对获取的点云轨迹进行优化得到精度更高的轨迹，然后采用三角剖分对偶关系法对擦洗区域进行法矢量估计，结合人体擦洗区域轮廓提出了末端工具位姿自适应更新策略，提出了一种分段式插补处理方法，融合上述过程最终完成洗浴机器人擦洗轨迹规划，最后以假人为对象进行实验，结果验证了机器人可自适应于人体表面轮廓并调整擦洗工具轴向与接触区域垂直且与皮肤紧密贴合，误差范围在±3 mm，可以在60 s内即可完成视觉引导机械臂运动规划完成擦洗，控制方法具有良好的擦洗效果和擦洗的精准性。

Abstract: In response to the current problem of auxiliary bathing robots being unable to accurately scrub the complex surface contours of the human body, this study proposes a scrubbing control method with a robotic arm adaptive to real-time trajectory planning of the human body surface contour. Firstly, the obtained point cloud trajectory is optimized using cubic B-spline interpolation to obtain a more accurate trajectory. Then, the triangulation dual relationship method is used to estimate the nor-mal vector of the scrubbing area. Combined with the contour of the human scrubbing area, an adap-tive update strategy for the end tool pose is proposed, and a segmented interpolation processing method is proposed. By integrating the above process, the scrubbing trajectory planning of the bathing robot is ultimately completed, Finally, experiments were conducted on dummies, and the results verified that the robot can adapt to the contour of the human body surface and adjust the axial direction of the cleaning tool to be perpendicular to the contact area and closely fit the skin, with an error range of ±3 mm. It can complete visual-guided robotic arm motion planning and cleaning within 60 seconds, and the control method has a good cleaning effect and accuracy.