Interactive arm control method and system based on event-driven mechanism

Abstract

The invention provides an interactive arm control method and system based on an event-driven mechanism. The method comprises the steps of collecting a hand position signal of a certain autistic patient, and carrying out filtering and speed estimation, and obtaining a series of hand position-time and speed-time sequences of the patient; judging whether a difference between the current hand positionof a virtual human and a preset boundary point position is smaller than a set threshold or not; if yes, triggering PD control once, and adjusting the movement speed and the movement track of the virtual human correspondingly according to the series of obtained hand position-time and speed-time sequences of the patient; and if not, enabling the virtual human to move according to the preset speed and the preset track. The method of the invention has the beneficial effects that the designed event-driven mechanism is added to a PD controller, so that the control method is more humanoid, in addition, the control effect is improved to a certain extent, and the signal transmission quantity is reduced.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to an event-driven mechanism-based interactive arm control method and system. Background technique [0002] In the traditional arm control method, the controller design is controlled by a fixed time period. This method can improve the control effect by adjusting the control parameters, but this method still has shortcomings: it does not match the control mechanism of the human body itself; secondly, In order to ensure a good control effect, there will be too much signal transmission between the various modules of the control model, which will cause a lot of resource consumption and require a lot of experiments to determine the most suitable control parameters. Therefore, in order to make the control mechanism of the controller model more suitable for the control mechanism of the human body itself, and to reduce unnecessary signal transmission, an event-driven controller model based ...

AI Technical Summary

Problems solved by technology

[0002] In the traditional arm control method, the controller design is controlled by a fixed time period. This method can improve the control effect by adjusting the control parameters, but this method still has shortcomings: it does not match the control mechanism of the human body itself; secondly, In order to ensure a good control effect, there will be too much signal transmission between the various modules of the control model, which will cause a lot of resource consumption and require a lot of experiments to determine the most appropriate control parameters.

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