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.

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.

CN103223675AActive Publication Date: 2013-07-31CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
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  • Robot dexterous hand curved-surface tracking method based on pressure sensor array

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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 ...

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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

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Application Information

Patent Timeline
31 Jul 2013
Publication
CN103223675A
IPC
B25J13/08
Inventors
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