US 11,766,784 B1
Motion capture method and system of robotic arm, medium, and electronic device
Shunyi Zhao, Wuxi (CN); Wei Wang, Wuxi (CN); Xiaoli Luan, Wuxi (CN); and Fei Liu, Wuxi (CN)
Assigned to JIANGNAN UNIVERSITY, Jiangsu (CN)
Filed by JIANGNAN UNIVERSITY, Wuxi (CN)
Filed on Dec. 17, 2022, as Appl. No. 18/83,507.
Application 18/083,507 is a continuation of application No. PCT/CN2022/099469, filed on Jun. 17, 2022.
Claims priority of application No. 202210228647.4 (CN), filed on Mar. 8, 2022.
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1669 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A motion capture method of a robotic arm, comprising steps of:
S1. fastening a visual sensor on a robotic arm to acquire data as a source domain, fastening an inertial sensor on a corresponding human arm to acquire data as a target domain, and establishing a state space expression of a system;
S2. setting an optimal unknown state observed joint distribution based on the state space expression and by using a total probability theory and using an observed prediction distribution of the source domain as a condition, decomposing a conditional joint observed distribution model, and solving an optimal distribution by using KL divergence; and
S3. transferring knowledge of the source domain measured by the visual sensor into the target domain measured by the inertial sensor based on a Kalman filter (KF) and the total probability theory, performing data fusion based on Kalman filtering, and predicting a state of the system at a next moment to implement motion capture of the robotic arm.