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Immobilization method of a wearable wheel type immobilization force feedback control device

A control device and stop force technology, which is applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve the problems of destroying the execution of objects to be executed, and the failure to reach the required value, so as to improve the sense of immersion on the spot, responsiveness, and improve The effect of movement accuracy and real-time degree

Active Publication Date: 2021-08-31
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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  • Immobilization method of a wearable wheel type immobilization force feedback control device
  • Immobilization method of a wearable wheel type immobilization force feedback control device
  • Immobilization method of a wearable wheel type immobilization force feedback control device

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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] like 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 th...

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Abstract

The invention relates to a stop method of a wearable wheel-type stop force feedback control device, which belongs to the field of intelligent control technology, and solves the problem that the operator cannot stop the operation action in time when the intelligent operation device performs fine micro-joint actions in the prior art. The accuracy of the control instructions even leads to the problem of excessive operation on the execution end and damage to items. In the stopping method of the present invention, the control device sends a locking command to the wheel-type stopping mechanism, controls the stop push rod to contact the stop wheel, and the stop push rod locks the stop wheel in an engaging or frictional manner. Since the stop wheel is fixed to the rotating joint, when the stop wheel is locked, the joint stops synchronously. The action joints of the force feedback control device are locked, and at the same time, the action execution device stops moving. The invention realizes the accuracy of the manipulation instruction of the manipulation end, and avoids the problems that the mismanagement destroys the object to be executed or the execution contact force does not reach the required value.

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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Patent Type & Authority Patents(China)
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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