Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Robot dexterous hand curved-surface tracking method based on pressure sensor array

A pressure sensor and robot technology, applied in manipulators, manufacturing tools, etc., can solve problems such as poor versatility, limited perception ability, and fine operation of operating objects.

Active Publication Date: 2013-07-31
CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
View PDF5 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The activity ability and operation level of the robot end effector are of great significance for the robot to complete the task. Although the traditional end effector has the advantages of simple structure and convenient operation, it has poor versatility, limited perception ability, and cannot fine-tune the operation object. operate

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot dexterous hand curved-surface tracking method based on pressure sensor array

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0011] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0012] The robot dexterous hand curved surface tracking method based on the pressure sensor array proposed by the present invention includes: step 1: installing a pressure sensor array 5 on the robot dexterous hand 4; The size of the positive pressure; Step 3: Select three pressure sensors whose positive pressure is not zero and not on the same straight line; Step 4: Adjust the position of the sensor array according to the difference of the positive pressure on the three pressure sensors described in Step 3 The included angle between the plane and the curved surface contacted by the robot dexterous hand until the positive pressures on the three pressure sensors are equal; Step 5: Adjust the same positive pressure on the three pressure sensors in step 4 to a specified value. In step 3, there may be 4 or more pressure sensors that are not on ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a robot dexterous hand curved-surface tracking method based on a pressure sensor array, and belongs to the technical field of robot dexterous hand control. The method comprises the following steps of: firstly, arranging the pressure sensor array on a robot dexterous hand; secondly, scanning and detecting the positive pressure stressed on each sensor in the pressure sensor array; thirdly, selecting three pressure sensors which are not located on the same straight line and are stressed with non-zero positive pressure; fourthly, adjusting an included angle between a plane on which the sensor array is located and a curved surface with which the robot dexterous hand is in contact according to the difference of the positive pressure stressed on the three pressure sensors from the third step, until the positive pressure stressed on the three pressure sensors are equal; and fifthly, adjusting the equal positive pressure stressed on the pressure sensors to a preset value. According to the method, the robot dexterous hand can sweep through one curve surface with constant force, plane detection can be realized, and simultaneously the curve surface of an unknown object can be predicated, so that the control on grabbing the unknown object can be realized by the robot dexterous hand.

Description

technical field [0001] The invention belongs to the technical field of robot dexterous hand control, and relates to a robot dexterous hand curved surface tracking method based on a pressure sensor array. Background technique [0002] With the development of science and technology, robots have gradually become a powerful tool for human beings to explore unknown areas. In order to realize the effective exploration or operation of unknown environments and objects, in addition to good controllability and autonomous operation ability, the robot must also have the ability to perform fine operations. The activity ability and operation level of the robot end effector are of great significance for the robot to complete the task. Although the traditional end effector has the advantages of simple structure and convenient operation, it has poor versatility, limited perception ability, and cannot fine-tune the operation object. operate. In this context, the multi-fingered, multi-degree...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08
Inventor 李耀施益智张明焜傅舰艇陈健马磊张为
Owner CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com