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A wearable full-joint two-way force feedback integrated closed-loop control device and method

A control device and force feedback technology, which is applied in the direction of program control, general control system, program control manipulator, etc., can solve the problem that wearable follow-up teleoperation equipment cannot perform fine micro-operation, poor kinematics and dynamic characteristics of robot action, Problems such as the inability to accurately drive the end effector of the robot can achieve the effect of improving the sense of immersion in the scene, improving the practicality and convenience, and improving the accuracy and real-time degree of motion

Active Publication Date: 2021-03-12
CHINA AEROSPACE TIMES ELECTRONICS CORP
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  • Claims
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Problems solved by technology

[0004] However, the existing wearable follow-up teleoperation equipment usually only collects the joint angle parameters, and does not collect the kinematic dynamic characteristic parameters, resulting in poor kinematic dynamic characteristics of robot movements
In addition, when the operator performs fine micro-hand movements such as grasping and releasing, due to the small change in the angle parameters of the finger joints, it is impossible to accurately drive the end effector of the robot, resulting in a large movement delay, making wearable follow-up teleoperation The equipment cannot perform fine micro-operations, which greatly affects the application range of teleoperation robots

Method used

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  • A wearable full-joint two-way force feedback integrated closed-loop control device and method
  • A wearable full-joint two-way force feedback integrated closed-loop control device and method
  • A wearable full-joint two-way force feedback integrated closed-loop control device and method

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Embodiment Construction

[0044] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the public implementation manners of the present invention in detail with reference to the accompanying drawings.

[0045] Current wearable control devices usually only collect the joint rotation angle of human body movements, and directly output the parameters to the joints of the robot to drive the robot to produce the same movements as humans, without collecting the kinematics and dynamics parameters of human joints , the parameters of the joint force characteristics are not collected and utilized, so that the robot's motion characteristics and dynamic characteristics are inconsistent with the human body's motion characteristics. Especially for the motion process with minimal changes in joint angle parameters (such as human grasping / releasing action process), the use of joint angle control has a large motion delay, resulting in obvious ...

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Abstract

The invention discloses a wearable full-joint two-way force feedback integrated closed-loop control scheme, based on the rotation angle, rotation speed and rotation acceleration of each joint of the human body (kinematics and dynamics parameters of the human body joints), and the human body teleoperation terminal The comprehensive consideration of the force information (joint force characteristic parameters) of each joint of the equipment is used to complete the motion control of the teleoperated humanoid robot, which greatly improves the motion accuracy and real-time degree of the teleoperated humanoid robot, and overcomes the delay in response to action, and The sluggishness of the robot movement caused by the movement delay.

Description

technical field [0001] The invention belongs to the technical field of intelligent operation, and in particular relates to a wearable full-joint bidirectional force feedback integrated closed-loop control device and method. Background technique [0002] The teleoperation anthropomorphic robot is a unique type among many robot categories. This type of robot uses remote control to control the remote robot, so that the robot can complete various required actions and perform specific operations. Conventional remote control operations are realized by hand-held remote control devices. This remote control technology requires operators to undergo a lot of professional training, and the control flexibility and efficiency are low. The number of controllable actions is limited, and it is difficult for robots to complete complex actions similar to humans. [0003] In order to solve the above problems, wearable follow-up teleoperation equipment is mostly used at present. This type of equ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16B25J13/08
CPCB25J9/0006B25J9/1605B25J9/1633B25J9/1651B25J9/1694B25J13/085G05B2219/40318
Inventor 黄信林杨斌郝长岭杨子健李慧娟禹继芳张蒙贾媛
Owner CHINA AEROSPACE TIMES ELECTRONICS CORP
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