Man-machine interaction mechanical gripper control system and method
A mechanical gripper and human-computer interaction technology, applied in the field of human-computer interaction, can solve problems such as poor grasping force control accuracy, and achieve the effect of improving the human-computer interaction experience
Active Publication Date: 2020-11-17
武汉万迪智慧低碳环保技术有限公司
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Problems solved by technology
[0003] In view of this, the present invention proposes a human-computer interaction mechanical gripper control system and method, which are used to solve the problem of poor grasping force control accuracy when the human-computer interaction mechanical gripper grasps objects
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[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.
[0034] The invention discloses a human-computer interaction mechanical gripper control system, the system includes:
[0035] Basic equipment module: including wearable gloves and mechanical grippers; strain sensors and heating resistance wires are integrated on the wearable gloves, and force sensors and joint displacement sensors are integrated at the joints of the mechanical grippers; figure 2 As shown, it is a schematic diagram of the wearable g...
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The invention discloses a man-machine interaction mechanical gripper control system and method. The man-machine interaction mechanical gripper control system comprises a basic equipment module, wherein the basic equipment module comprises a wearable glove and a mechanical gripper, a strain sensor is integrated on the wearable glove, and a force sensor and a joint displacement sensor are integratedat the joint of the mechanical gripper; a data acquisition module, wherein the data acquisition module is used for acquiring glove deformation through the strain sensor, the grabbing force of the mechanical gripper is detected through the force sensor, and the included angle displacement of the mechanical gripper is detected through the joint displacement sensor; a data processing module, which is used for determining the moving path of the mechanical gripper according to the coordinates of a gripped object and calculating the rigidity of the gripped object through the gripping force and theincluded angle displacement of the mechanical gripper; and a gripper control module, which is used for adjusting the current input of the mechanical gripper according to the glove deformation, the gripping force, the included angle displacement and the rigidity of the gripped object, and constructing a variable-rigidity impedance control equation to achieve gripping control. Accurate control overlinkage of hand actions of an operator and claw opening and closing of the mechanical gripper can be achieved.
Description
technical field [0001] The invention relates to the technical field of human-computer interaction, in particular to a control system and method for a human-computer interaction mechanical gripper. Background technique [0002] At present, for the robot remote control operating system, most of the research and its derived products basically achieve information feedback such as joint angles, but lack the stiffness information of the grasped object, resulting in too little grasping force for high-stiffness objects, resulting in Objects are easy to slip, and the grasping force is too large for low-rigidity objects, resulting in deformation of the object. In order to improve the grasping efficiency of the remote control robot, it is necessary to realize accurate control of the grasping force of the grasped object. Contents of the invention [0003] In view of this, the present invention proposes a human-computer interaction mechanical gripper control system and method, which a...
Claims
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Login to View More IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1633B25J19/00
Inventor 赵兴炜杜登伟杨景楠
Owner 武汉万迪智慧低碳环保技术有限公司