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Stop method for wearable wheel type stop force feedback control device

A control device and stop force technology, which is applied in the direction of program-controlled manipulators, manipulators, joints, etc., can solve the problems of destroying the execution of the executed object, and the contact force does not reach the required value, so as to improve the sense of immersion on the spot, react quickly, and improve the action. The effect of accuracy and real-time degree

Active Publication Date: 2019-08-20
CHINA AEROSPACE TIMES ELECTRONICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above analysis, the present invention aims to provide a stop method of a wearable wheel-type stop force feedback control device to solve the problem that the execution end is prone to damage the executed object or execution when performing fine movements in the prior art. The problem that the contact force does not reach the required value

Method used

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  • Stop method for wearable wheel type stop force feedback control device
  • Stop method for wearable wheel type stop force feedback control device
  • Stop method for wearable wheel type stop force feedback control device

Examples

Experimental program
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Embodiment 1

[0040] A specific embodiment of the present invention discloses a stop method of a wearable wheel-type stop force feedback control device, which is characterized in that it includes the following steps:

[0041] S1: When the action execution device touches the object to be executed, the control device 13 sends a locking command to the wheel stop mechanism 2;

[0042] S2: The pusher 23 drives the stop push rod 22 to contact the stop wheel 21 to lock the stop wheel 21;

[0043] S3: the stop wheel 21 is fixed to the rotating joint, and when the stop wheel 21 is locked, the joint stops synchronously;

[0044] S4: The action joints of the force feedback control device are locked, and the action execution device stops at the same time.

[0045] Specifically, in step S1, pressure sensors are provided on both the action executing device and the force feedback control device; the control device 13 of the force feedback control device outputs an unlocking signal to the pusher 23 accord...

Embodiment 2

[0102] This embodiment provides a wheel-type stop force feedback control system, which includes a wearable wheel-type stop force feedback control glove and an action execution device manipulator.

[0103] Such as image 3 As shown in , the wearable wheeled stop force feedback control glove is used as the control end of the force feedback control system.

[0104] Specifically, the wearable wheeled stop force feedback control glove includes: mounting base 12, control device 13 and five force feedback finger joints.

[0105] Specifically, each force feedback finger joint is hinged in series with two wheel-type stop force feedback joints, that is, it includes three joints connected in series, has two rotation centers, and a wheel-type stopper is set at each rotation position. institution, see image 3 .

[0106] Each wheel-type brake force feedback joint includes two joint parts. After the two wheel-type brake force feedback joints are connected in series, the follower rod 3 of...

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Abstract

The invention relates to a stop method for a wearable wheel type stop force feedback control device, and belongs to the technical field of intelligent control. The stop method solves the problems thatin the prior art, when intelligent operation equipment performs fine micro joint actions, an operator cannot stop the operation action in time, then the accuracy of the control instruction cannot beensured, and the execution end is excessively operated to damage an object. According to the stop method, a locking instruction is sent to a wheel type stop mechanism through a control device, a stoppush rod is controlled to be in contact with a stop wheel, and the stop push rod is used for locking the stop wheel in a clamped or friction mode. Due to the fact that the stop wheel is fixed with a rotating joint piece, and when the stop wheel is locked, the joint piece stops moving synchronously. An action joint of the force feedback control device is locked, and an action execution device stopsacting. According to the method, the accuracy of the operation control instruction of the operation end is realized, and the situation that the object to be executed is damaged or the execution contact force does not reach the required value due to control errors is avoided.

Description

technical field [0001] The invention relates to the technical field of intelligent control, in particular to a stop method of a wearable wheel-type stop force feedback control device. Background technique [0002] When the teleoperated robot performs contact operations on the operating object, such as grasping, twisting, etc., the dynamic characteristics of the environment are particularly important, and 70% of the information in these operations is provided by force sense. Force telepresence refers to the real-time feedback of the interaction force between the teleoperated robot and the environment to the local operator through the sensor, so that the operator can have an immersive experience, so as to realize the control of the teleoperated robot with a sense of force. A force-telepresence robot system generally consists of an operator, a hand controller (or a master robot), a communication link, a teleoperated robot (or a slave robot) and an environment. [0003] The exi...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/08B25J17/02
CPCB25J9/1602B25J9/1689B25J13/085B25J17/02
Inventor 杨斌禹继芳周砚王昱天杨子健姚望
Owner CHINA AEROSPACE TIMES ELECTRONICS
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