Multi-sensor feedback adaptive robot finger device and control method thereof

Abstract

The invention discloses a multi-sensor feedback adaptive robot finger device and a control method thereof, and belongs to the technical field of robot hands. The device comprises two finger sections, a joint shaft, a motor, three sensors, a control module and a motor driving module. The device is a robot finger device for comprehensively implementing parameter adjustment and program control by using multiple sensors for feeding back signals, the motor driving module, the control module and an adaptive grabbing control algorithm; the device can realize adaptive grabbing of objects of differentshape and size, is easier to trigger the adaptive grabbing action, and is stable in grabbing, controllable in grabbing force and short in transmission chain; when the device is used for grabbing different objects, reprogramming is not needed; and the device is simple and convenient to use, meets requirement for grabbing of multiple objects, and can realize a robot hand with high flexibility and degree of freedom, high adaptability, low control difficulty and high reliability.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the design of a multi-sensor feedback adaptive robot finger device and a control method thereof. Background technique [0002] Anthropomorphic robot is the cutting-edge field of robot research, and most of its functions need to be realized by the operation of the robot hand. Therefore, the design of hand structure is the key technology of humanoid robot design. Adaptive grasping has the characteristics of automatically adapting to the shape and size of objects, which reduces the difficulty and cost of control, and has become a hot spot in the research of robotic hands. [0003] The existing robotic fingers with adaptive grasping characteristics are all mechanical underactuated fingers, such as underactuated fingers realized by gear transmission (CN1289269C), and underactuated fingers realized by connecting rod transmission (US5762390). The mechanical underactuat...

AI Technical Summary

Problems solved by technology

[0004] The dexterous hand that is actively controlled by motors and sensors can also grasp objects, but the disadvantage of the dexterous hand is that it does not automatically adapt to the shape and size of the grasped object, and requires a lot of complex kinematics and dynamics. Computing also requires complex programming for the current problem to achieve multi-joint coordinated motion control, which is difficult to meet the requirements of reliable and robust grasping in an unstructured environment. As well as the technology of complex control theory, it is expensive and has high requirements for operators, so it has been difficult to be widely used for a long time.

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