Humanoid hand control system based on data glove

A data glove and control system technology, which is applied in the field of humanoid manipulators, can solve the problems of complex development and lack of productization, and achieve the effects of simple operation, improved interactivity, and wide application prospects

Inactive Publication Date: 2016-08-03
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

This type of glove integrates input control and force feedback devices

Method used

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  • Humanoid hand control system based on data glove
  • Humanoid hand control system based on data glove
  • Humanoid hand control system based on data glove

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0047] The present invention will be further described below in conjunction with specific examples.

[0048] like figure 1 As shown, the humanoid manipulator control system based on the data glove of the present invention includes:

[0049] The operation control layer is mainly responsible for setting different control methods, including real-time simulation control and online control. This layer sets the current control method for the humanoid manipulator through the selection of the control method by the operator, and according to different control methods carry out different operational controls;

[0050] The data processing layer is mainly responsible for analyzing and processing the collected data, correcting and analyzing the data collected from the data glove, and mapping the analyzed finger joint angle information to the joint angle of the simulated virtual hand and humanoid manipulator according to the rules , which includes a data correction module, a finger joint ...

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Abstract

The invention discloses a humanoid hand control system based on a data glove. The humanoid hand control system comprises an operation control layer, a data processing layer, an interface layer and an equipment layer. The operation control layer is mainly responsible for setting different control ways comprising real-time simulation control and on-line control. The data processing layer is mainly responsible for analyzing and processing the collected data, correcting and analyzing the data collected from the data glove and mapping the analyzed finger joint angle information into joint angles of a simulation virtual hand and a humanoid hand according to the rules. The interface layer is mainly responsible for collecting data from the data glove and driving the simulation virtual hand and the humanoid hand. The equipment layer comprises data glove equipment, a simulation platform of the simulation virtual hand and the humanoid hand. The control effect on the humanoid hand can be displayed in time by means of the simulation virtual hand, the problem that control is not visual due to movement time delay when the humanoid hand is controlled online is solved, the control way is made natural and visual, and accurate control over the humanoid hand can be achieved.

Description

technical field [0001] The invention relates to the technical field of humanoid manipulators, in particular to a control system for humanoid manipulators based on data gloves. Background technique [0002] With the continuous deepening of research on the design, planning, operation and other related issues of humanoid manipulators, great progress has been made both abroad and at home. However, the humanoid manipulator is an extremely complex system. Most of the traditional control methods use off-line programming or teaching methods, and require the operator to input instructions to the controller to control the movement of the humanoid manipulator. Such a control mode has great limitations. The humanoid manipulator can only complete the predetermined actions, and it is difficult to adapt to the changing working environment, and the operation is complicated and not intuitive. The operator needs to be trained in advance and has certain programming knowledge. . Even so, it i...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J13/00
CPCB25J3/00B25J13/00
Inventor 韦婷肖南峰
Owner SOUTH CHINA UNIV OF TECH
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