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A bionic two-finger motion control method, device and equipment

A motion control, bionic thumb technology, applied in the field of robotics, can solve problems such as the inability to guarantee quantitative results of interference effects

Active Publication Date: 2021-10-22
XIAMEN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, most of the anti-interference of robot finger grasping is suppressed or compensated by engineering practical experience, and quantitative results that guarantee the impact of interference cannot be given.

Method used

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  • A bionic two-finger motion control method, device and equipment
  • A bionic two-finger motion control method, device and equipment
  • A bionic two-finger motion control method, device and equipment

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Embodiment Construction

[0083] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

[0084] It should be noted that like numerals and let...

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Abstract

The invention provides a bionic two-finger motion control method, device and equipment. The method includes: acquiring a built bionic two-finger motion system; generating a nonlinear system of the bionic two-finger motion system according to the principle of dynamics; expressing based on a fuzzy model Method, described nonlinear system is transformed into the T-S fuzzy system of δ operator; According to the T-S fuzzy system of described T-S fuzzy system, the position error observer of pre-designed δ operator and the observation feedback observer of δ operator, Obtain an error control system, and construct a closed-loop control system according to the error control system and make the closed-loop control system stable; control the bionic two-finger motion system based on the closed-loop control system and the preset reachable set control algorithm, so that the bionic The tracking error of the position of the thumb and the bionic index finger is controlled within a given accuracy range.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bionic two-finger motion control method, device and equipment. Background technique [0002] Now, robots have been widely used in many aspects of people's lives, and have made many contributions to human beings, and robots will be more widely used in the near future. [0003] Many countries and universities have carried out research on humanoid robots, such as: the robot QRIO of Sony Corporation of Japan, the humanoid robot Atlas of Boston Dynamics, the "Forerunner" robot of the National University of Defense Technology, the "Wu" and "Kong" robots of Zhejiang University, The "Huitong" series robots of Beijing Institute of Technology, etc. It can be said that the development level of humanoid robots represents the cutting-edge technology and the frontier of exploration in the field of robotics. [0004] Robot grasping objects is an important research topic of humanoid robots. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F3/01
CPCG06F3/011
Inventor 徐敏林瑞金彭波
Owner XIAMEN UNIV OF TECH
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