A human-computer 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 human-computer interaction experience
Active Publication Date: 2021-08-24
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 human-computer interaction mechanical gripper control system and method. The system includes: a basic equipment module including a wearable glove and a mechanical gripper; a strain sensor is integrated on the wearable glove, and the mechanical gripper joint It integrates force sensors and joint displacement sensors; data acquisition module: collects glove deformation through strain sensors; detects the grasping force of the mechanical gripper through force sensors, and detects the angular displacement of the mechanical gripper through joint displacement sensors; data processing module: according to The coordinates of the grasped object determine the movement path of the mechanical gripper, and calculate the stiffness of the grasped object through the grasping force and the angular displacement of the mechanical gripper; the gripper control module: according to the glove deformation, grasping force, angular displacement, and The stiffness of the grasped object is adjusted by the current input of the mechanical gripper, and the variable stiffness impedance control equation is constructed to realize the grasping control. The invention can realize the precise linkage control between the operator's manual action and the opening and closing of the gripper of the mechanical gripper.
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...
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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