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

Control method based on soft finger

A control method and finger technology, applied in the field of robotics, can solve the problems of small contact area and large grip force

Active Publication Date: 2017-10-03
严格集团股份有限公司
View PDF7 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The contact area between the rigid finger and the object to be grasped is small, and the required grip force is also large, so it is not suitable for grasping objects made of brittle and fragile materials (such as glass cups, etc.)

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
  • Control method based on soft finger
  • Control method based on soft finger
  • Control method based on soft finger

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0062] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, wherein the schematic embodiments and descriptions are only used to explain the present invention, but are not intended to limit the present invention.

[0063] See attached figure 1 , is a soft finger-based control method applied in the present invention, and the method includes the following steps:

[0064] Step 1: The robot determines the target object that needs to be grasped; specifically: the robot searches for the target object to be grasped based on the task assignment; after finding the target object to be selected, check the target object to be selected, and the checked target object The selected target object is determined as the target object;

[0065] Based on the task assignment, the robot searches for the target object to be grasped; specifically: the robot receives the task assignment through the human-computer interaction inte...

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 relates to a control method based on a soft finger. The method includes the steps that first, a robot determines a target object needing to be grabbed; second, the shape of the determined target object is obtained, and the robot obtains the shape of the target object in the mode of image sensing or infrared reflection and the like; third, the robot determines the position of the target object and further drives the soft finger to grab the target object; and fourth, the minimum grabbing force is calculated in real time in the processes of target object grabbing and follow-up movement, and the soft finger is clamped based on the minimum grabbing force. The contact area between the soft finger and the grabbed object can be increased to the maximum degree, the grabbing force is reduced, and impulse force is also reduced. Meanwhile, a soft finger model is introduced, the problem of clamping force control is solved, computational complexity caused in the simultaneous clamping process of multiple fingers can be lowered, and especially instant clamping force can be calculated in real-time force control so as to conduct finger control.

Description

【Technical field】 [0001] The invention relates to the field of robots, in particular to a control method based on soft fingers. 【Background technique】 [0002] A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. In order to be able to grasp the object without causing damage to the object due to excessive clamping force, two key problems must be solved. One is the robot tactile sensor that can sense and measure the pressure and sliding functions; the other is how much pressure should be applied. clamping force. [0003] The softness of human fingers plays an important role in stable grasping and dexterous tool use. With the rapid development of new technologies, the application of humanoid robots is becoming more and more extensive. The fingers of manipulators in the prior art are mostly made of rigid materials. The contact area between th...

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
IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor 管俊王飞
Owner 严格集团股份有限公司
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