Wearable gesture control device for controlling movement of robot in human-computer collaborative remanufacturing

A technology of robot motion and human-machine collaboration, applied in computer control, program control, general control system, etc., can solve problems such as poor robot control performance, achieve low cost, improve control performance, and solve the effects of cumbersome processes

Inactive Publication Date: 2016-02-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to solve the existing problem of poor control performance of robots. The present inve

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  • Wearable gesture control device for controlling movement of robot in human-computer collaborative remanufacturing

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Example Embodiment

[0026] Combine figure 1 To explain this embodiment, the wearable gesture control device for controlling the movement of a robot in human-machine cooperative remanufacturing described in this embodiment, the control device includes a wearable device and an upper computer;

[0027] The wearable device includes a single-chip microcomputer and three six-axis motion sensors;

[0028] Three six-axis motion sensors are installed on the operator's finger to obtain angular velocity and acceleration information;

[0029] The six-axis motion sensor in this embodiment is implemented using the chip MPU-6050, which integrates a 3-axis MEMS gyroscope and a 3-axis MEMS accelerometer, as well as an expandable digital motion processor DMP (Digital Motion Processor), which can be connected to an I2C interface. Three-party digital sensors, such as magnetometers. After expansion, a 6-axis signal can be output through its I2C or SPI interface. MPU-60X0 can also be connected to non-inertial digital sens...

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Abstract

The invention discloses a wearable gesture control device for controlling movement of a robot in human-computer collaborative remanufacturing, which belongs to the field of robot control, so as to solve the problem that the existing control performance on the robot is poor. The control device comprises a wearable device and an upper computer, wherein the wearable device comprises a single chip microcomputer and at least three six-axis movement sensors; the at least three six-axis movement sensors are arranged on fingers of an operator for acquiring angle velocity and acceleration information; the single chip microcomputer is used for determining a gesture of the operator according to the velocity information acquired by the six-axis movement sensors; and the upper computer is used for controlling the six-axis robot to move according to the determined gesture. Human-computer interaction in remanufacturing can be realized, the defect of a tedious robot control process can be solved, and the control performance on the robot by the person can be improved.

Description

technical field [0001] The invention relates to a robot motion control device in man-machine collaborative remanufacturing, belonging to the field of robot control. Background technique [0002] In human-robot collaborative remanufacturing, human-to-robot motion control is crucial. In addition to control equipment such as keyboards, mice, and control boxes, how to accurately and efficiently control robot operations is the key to improving the efficiency and quality of shared control between humans and robots. [0003] Human gestures are simple, natural, and intuitive. In a short period of time, one gesture can convey more information. Controlling the robot through gestures can not only improve the efficiency of interaction, but also reduce the complexity of communication equipment, which has important practical significance. [0004] Gesture control can also be used as a supplement to the traditional human-computer interaction method. When the hand control box or other dev...

Claims

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Application Information

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IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/35444
Inventor 张广军林耀东吕明达
Owner HARBIN INST OF TECH
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