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Mechanical arm and mechanical arm control method based on Leap Motion

A control method and technology of robotic arms, which are applied in the directions of manipulators, program-controlled manipulators, and manufacturing tools, etc., can solve the problems of less freedom and complicated operation of the manipulator, and achieve the effect of easy disassembly, high precision, and smooth operation process.

Inactive Publication Date: 2018-02-27
SHANDONG INST OF BUSINESS & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a manipulator and a Leap Motion-based manipulator control method to solve the current problems of complicated manipulator operation and less degrees of freedom

Method used

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  • Mechanical arm and mechanical arm control method based on Leap Motion
  • Mechanical arm and mechanical arm control method based on Leap Motion
  • Mechanical arm and mechanical arm control method based on Leap Motion

Examples

Experimental program
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Effect test

Embodiment 1

[0077] see Figure 5 , a flowchart of a Leap Motion-based robotic arm control method provided in an embodiment of the present invention, the method includes the following steps:

[0078] S100: The Leap Motion device collects hand motion data in real time, and extracts characteristic parameters of the hand motion data.

[0079] Leap Motion is a somatosensory controller for PC and Mac. It can detect and track hands, fingers and similar tools. It can work with high precision and high tracking frame rate. It uses infrared filters and has strong anti-interference ability. LeapMotion recognizes hands, fingers, and tools and can capture their positions, gestures, and movements in real time. The visual range of Leap Motion is an inverted pyramid, with the tip of the tower in the center of the device. The working range of Leap Motion is about 25 to 600 mm in front of the device, that is, 1 inch to 2 inches, which makes up for the short-range recognition of some sensors on the market. ...

Embodiment 2

[0109] see Figure 7 , is a flow chart of another embodiment of a method for controlling a robotic arm based on Leap Motion provided by an embodiment of the present invention.

[0110] The method for controlling the mechanical arm based on Leap Motion provided by the embodiment of the present invention includes the following steps:

[0111] S100: The Leap Motion device collects hand motion data in real time, and extracts characteristic parameters of the hand motion data.

[0112] S1021: The Leap Motion device collects hand motion data in real time, and extracts palm coordinates and hand offset flip angles according to the hand motion data.

[0113] S1022: Convert the palm coordinate value and hand offset flip angle into motion parameters of the robotic arm.

[0114] The spatial position of the robotic arm is determined based on Leap Motion. Because Leap Motion has powerful gesture data capture capabilities, it can detect spatially accurate data including palms, wrists, forea...

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Abstract

The invention discloses a mechanical arm and a mechanical arm control method based on Leap Motion. The mechanical arm comprises a base, an execution mechanism, a master control board, a first steeringengine, a second steering engine and a third steering engine. The execution mechanism comprises a base component, a big arm component, a small arm component and a wrist. The first steering engine, the second steering engine and the third steering engine drive the base component, the big arm component and the small arm component to rotate correspondingly, and operation is simple. The provided mechanical arm is combined with Leap Motion equipment, the mechanical arm is controlled to finish the corresponding action in real time through Leap Motion action induction and simulation, the non-user-friendly design that buttons and other manners are adopted in traditional mechanical arms for control is avoided, operation is simple, and accuracy is high; and the human thought and the machine thoughtcan be combined, and the target task can be better executed.

Description

technical field [0001] The invention relates to the technical field of manipulator control, in particular to a manipulator and a Leap Motion-based manipulator control method. Background technique [0002] The robotic arm can imitate certain movements and functions of the human hand and arm, and is an automatic operating device used to grab, carry objects or operate tools according to a fixed program. The mechanical arm is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy , electronics, light industry and atomic energy and other departments. [0003] The mechanical arm is composed of an actuator, a drive mechanism and a control system. The actuator includes a grasping part (hand), wrist, arm and waist. The hand is in direct contact ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/14B25J17/00
CPCB25J9/14B25J9/1612B25J17/00
Inventor 刘培强张斌陈阳孙家君
Owner SHANDONG INST OF BUSINESS & TECH
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