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Dexterous hand grasping control method, device and terminal equipment

A control method and dexterous hand technology, applied in the field of intelligent control, can solve the problems of low control precision and achieve the effect of improving control precision, fast calculation speed and good self-adaptive ability

Active Publication Date: 2021-08-17
INST OF APPLIED MATHEMATICS HEBEI ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a dexterous hand grasping control method, device and terminal equipment to solve the problem of low control precision in the prior art

Method used

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  • Dexterous hand grasping control method, device and terminal equipment
  • Dexterous hand grasping control method, device and terminal equipment
  • Dexterous hand grasping control method, device and terminal equipment

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Embodiment Construction

[0019] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0020] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0021] Please refer to figure 1 with Figure 4 , figure 1 It is a schematic flowchart of a dexterous hand grasping control method provided by an embodiment of the present invention, Figure 4 The dexterous hand control block diagram ( Figure 4 Among them, the sens...

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Abstract

The present invention is applicable to the technical field of intelligent control, and provides a dexterous hand grasping control method, device and terminal equipment. The method includes: establishing a brain emotion learning model, and obtaining the optimal network weight of the brain emotion learning model ; Calculate the output signal of the brain emotion learning model according to the optimal network weight, and input the output signal into the dexterous hand, and the output signal is used to control the grasping of the dexterous hand. The dexterous hand grasping control method, device and terminal equipment provided by the present invention can improve the control precision of the dexterous hand.

Description

technical field [0001] The invention belongs to the field of intelligent control, and in particular relates to a dexterous hand grasping control method, device and terminal equipment. Background technique [0002] The robotic dexterous hand is a high-tech automatic production equipment developed in recent decades. By controlling it, it can accurately complete the expected operations in various environments, and has the advantages of both humans and machines in terms of structure and performance. The dexterous hand completes the preset task by performing a grasping operation on the target object. During the movement, it is necessary to control the dexterous hand to exert an appropriate grasping force on the target object to ensure the stable grasp of the target object by the dexterous hand. Therefore, How to realize the precise grasping control of dexterous hands is a research difficulty. [0003] Since the dexterous hand control system is a nonlinear system with structural ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/163
Inventor 张英坤程煜郝存明任亚恒吴立龙姚立彬赵航
Owner INST OF APPLIED MATHEMATICS HEBEI ACADEMY OF SCI