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Wheel type stop force feedback control method and device and wearable device

A control method and force feedback technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as failure to reach the required value, damage to the execution of the object to be executed, etc., to achieve quick response, improve on-the-spot immersion, and good The effect of practicality and convenience

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

[0003] In view of the above analysis, the present invention aims to provide a feedback control method, device and wearable device for wheel stoppers, which can control refined remote control actions based on force feedback and wheel stoppers, and overcome the problem that the operation terminal cannot allow operation The problem that the operator accurately and timely perceives the force on the execution end caused by the control error destroys the object to be executed or the execution contact force does not reach the required value

Method used

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  • Wheel type stop force feedback control method and device and wearable device
  • Wheel type stop force feedback control method and device and wearable device
  • Wheel type stop force feedback control method and device and wearable device

Examples

Experimental program
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Effect test

Embodiment 1

[0042] This embodiment discloses a force feedback control method for a wheel stop, such as figure 1 shown, including the following steps:

[0043] Step S101, the force feedback device at the control end follows the movement of the control action, collects information including posture, velocity, acceleration and control pressure generated by the control action, and sends it to the controller at the control end;

[0044] Step S102, the controller at the manipulation end sends the generated information including attitude, velocity and acceleration to the execution end, controls the action execution device at the execution end to execute the corresponding manipulation action, and receives the contact pressure sensed during the execution of the manipulation action;

[0045] Step S103, the controller at the manipulating end outputs an unlocking command or a locking command to the wheel stop mechanism of the force feedback device according to the manipulating pressure, the magnitude...

Embodiment 2

[0077] This embodiment discloses a joint remote control device based on force feedback, including a manipulation end and an execution end;

[0078] The control end includes a force feedback device and a controller;

[0079] The force feedback device is used to follow the movement of the manipulation action, collect information including attitude, speed, acceleration and manipulation pressure generated by the manipulation action, and send it to the controller at the manipulation end;

[0080] Preferably, the force feedback device at the control end is composed of connections such as figure 2 or 3;

[0081] The controller is used to send the generated information including posture, velocity and acceleration to the execution end, control the action execution device on the execution end to execute the corresponding manipulation action, and receive the contact pressure sensed when performing the manipulation action; and according to the manipulation pressure , the contact pressu...

Embodiment 3

[0085] This embodiment discloses a wearable remote control device. This embodiment takes the remote control of a robot hand as an example, such as Figure 7 As shown, it is a driving device that can be worn on the palm, and each joint of the driving device includes a force feedback device as in Embodiment 2; all force feedback devices generate the palm movements collected by the driving device, including gestures , speed, acceleration and operating pressure, and send them to the controller of the driving device;

[0086] Such as Figure 7 As shown, it is the driven robot limb, that is, the robot palm. Each joint of the robot palm includes an action execution device as in Embodiment 2; the action sent by the drive device wearable on the palm is executed through the controller, and the feedback Perceived external force.

[0087] When the drive device wearable on the palm controls the driven robot limbs to perform actions, sample the force feedback control method based on the whe...

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Abstract

The invention relates to a wheel type stop force feedback control method and device and a wearable device, and belongs to the technical field of intelligent operation. The wheel type stop force feedback control device is characterized in that refined remote control action is achieved; a control end acquires information including postures, speed, accelerated speed and control pressure generated through control action through a force feedback device; an action executing device which controls an executing end executes corresponding control action and receives contact pressure sensed by the actionexecuting device when executing the control action; and the force feedback device is controlled to move or stop along with control action through a wheel type stop mechanism according to control pressure, contact pressure and an interrelationship. According to the wheel type stop force feedback control method the wheel type stop force feedback control method device, two-way synchronization of control and sensing is achieved, spot immersion of remote control is improved, action precision and real-time degree of remote control are greatly improved, and personnel control accuracy, real-timenessand fault tolerance are greatly improved.

Description

technical field [0001] The invention relates to the technical field of intelligent operation, in particular to a wheel stop feedback control method, device and wearable device. Background technique [0002] The existing follow-up teleoperation equipment usually realizes the control of the joint motion of the remote control end by collecting the joint angle parameters of the operation end. However, when performing some fine micro-joint movements, the operator cannot sense the force of the execution end in time, resulting in the inability to timely Accurately sending out the correct control instructions will cause the execution end to easily damage the object to be executed or the execution contact force to fail to reach the required value when performing fine movements. Contents of the invention [0003] In view of the above analysis, the present invention aims to provide a feedback control method, device and wearable device for wheel stoppers, which can control fine remote...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1689B25J13/08B25J13/085B25J13/088
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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