Posture change detection device and method of object clamped by mechanical arm

A posture change and detection device technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of incapable of quantitative measurement of posture changes, sensitivity of detection effect to ambient lighting, and influence on the scope of application, etc.

Inactive Publication Date: 2017-11-07
SHANDONG UNIV
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Problems solved by technology

[0003] At present, there are mainly two types of attitude change detection methods for the gripped object: one is to use the visual method, that is, to monitor the attitude change of the gripped object by arranging a camera outside the manipulator. Or the occlusion of the manipulator, which affects the scope of application. In addition, the detection effect is also sensitive to ambient lighting; the second is to use the tactile sensor metho

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  • Posture change detection device and method of object clamped by mechanical arm
  • Posture change detection device and method of object clamped by mechanical arm
  • Posture change detection device and method of object clamped by mechanical arm

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Embodiment Construction

[0075] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0076] Such as figure 1 As shown, the detection system designed by the present invention is composed of a manipulator 1 , a manipulator finger 2 , three sliding sensors 3 and a gripped object 4 . Among them, the manipulator 1 and the manipulator finger 2 form a manipulator gripping system; the sliding sensor 3 is three omnidirectional sliding sensors, which can detect both the magnitude of the sliding displacement and the sliding direction. Figure 2(a), Figure 2(b) and Figure 2(c) are schematic diagrams of the detection principles of the sliding sensors sensor1, sensor2, and sensor3, where state(n-1) represents the detection of the three sensors in the current state The coordinates received; state(n) indicates the coordinate changes detected by each sensor when the gripped object and the surface of the mechanical finger slide. In the present invention...

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Abstract

The invention discloses a posture change detection device and method of an object clamped by a mechanical arm. The detection device comprises a mechanical arm clamping system. The mechanical arm clamping system comprises a mechanical arm and two mechanical fingers. The mechanical arm is a cross rod. The two mechanical fingers are vertical rods perpendicular to the cross rod and are mounted at the two ends of the cross rod correspondingly. The two mechanical fingers are used for clamping the object. A first sliding feeling sensor 1 and a second sliding feeling sensor 2 are embedded in one mechanical finger, and a third sliding feeling sensor 3 is embedded in the other mechanical finger. Each sliding feeling sensor is used for detecting the sliding displacement quantity and the sliding direction. Each sliding feeling sensor is connected with a storer through a corresponding A/D converter. The storer is connected with a DSP. The DSP is connected with a control computer through a USB interface. Therefore, quantitative detection of posture changes of the object is achieved. The detection method can be further used for continuous trace monitoring and tracking of the clamped object.

Description

technical field [0001] The invention relates to a posture change detection device and method of an object picked up by a manipulator, and relates to the field of robot control. Background technique [0002] The stable and flexible gripping of objects by robots in unstructured environments is one of the most challenging research areas in the development of robotics. In the actual gripping operation, the gripped object will inevitably have attitude changes such as tilting, slipping, and rotation, such as translation along the x, y, and z axes and changes in rotation angles around the three axes. If the posture change of the object to be gripped can be quantitatively detected in real time and fed back to the manipulator, the manipulator controller will make corresponding operations based on these real-time data, which can greatly improve the stability of gripping and the flexibility of operation. [0003] At present, there are mainly two types of attitude change detection meth...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1694
Inventor 李学勇赵凯
Owner SHANDONG UNIV
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