Humanoid manipulator grabbing control system and data processing method thereof

Abstract

The invention discloses a humanoid manipulator grabbing control system and a data processing method thereof. The system comprises an equipment module, a data acquisition module, a data processing module and a control module. The equipment module comprises a 21-degree-of-freedom five-finger humanoid manipulator, a 6-degree-of-freedom mechanical arm, a data glove, a camera and a virtual hand simulation platform; the data acquisition module is mainly used for collecting images and data glove data; the data processing module is mainly used for analyzing and processing the collected images and dataand includes a to-be-grabbed object recognition module and a grabbing scheme generation module; the control module is used for controlling the mechanical arm and the five-finger humanoid manipulatorto grab an object and includes direct command control and data glove online control. According to the humanoid manipulator grabbing control system and the data processing method thereof, deep learningtarget recognition is combined with five-finger humanoid manipulator grabbing control, and a simulation virtual hand can be used for timely displaying a grabbing control effect of the humanoid manipulator, so that the grabbing control is more intelligent and visible.

Description

technical field [0001] The invention relates to the technical field of deep learning and humanoid manipulator grasping, in particular to a humanoid manipulator grasping control system and a data processing method thereof. Background technique [0002] It has been more than 50 years since the appearance of the humanoid manipulator, but there are still many challenges in its practical application. It is necessary to further overcome the humanoid manipulator in the mechanism, model, touch, control, teaching, interaction, coordination, A series of key problems in the work. At present, the manipulators of most robots are designed for specific tasks, and they all have the disadvantages of poor flexibility, adaptability and precision. Therefore, it is necessary to develop a humanoid manipulator that can complete high-end, dexterous and precise operations like human hands and arms. For the humanoid manipulator, its main function is to assist the human hand to complete a series of ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, and propose a humanoid manipulator grasping control system and its data processing method with good adaptability, intuitiveness, interactivity and real-time performance, so as to solve the problem of traditional manipulator grasping control. The problems of single method, poor interaction, and low flexibility of the manipulator

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