Control method and system for fingers of dexterous hand of robot

Abstract

The invention belongs to the field of robot finger control, and discloses a control method and system for fingers of a dexterous hand of a robot. The method comprises the following steps of obtainingcategory information of a to-be-grabbed object, and determining a theoretical motor drive current for each finger to grab the to-be-grabbed object in a pre-established control model for a driving motor stroke and current for each finger of the dexterous hand to grab each category of object; driving each finger of the dexterous hand to grab the to-be-grabbed object by adopting the theoretical motordrive current, and acquiring an actual motor drive current for each finger to grab the to-be-grabbed object in real time; and when the actual motor drive current for any finger to grab the to-be-grabbed object exceeds the theoretical motor drive current of the corresponding finger, enabling the driving motor to stop working, and completing the grabbing action of the to-be-grabbed object. According to the control method, finger pressure detection is converted into motor current detection for driving the finger to move, so that the precision and convenience of pressure measurement are improved,and the precision of finger feedback control is improved; and the control system is simple in structure.

Description

technical field [0001] The invention relates to the field of robot finger control, in particular to a robot dexterous hand finger control method and system. Background technique [0002] The dexterous hand of a humanoid robot is able to grasp different objects is an important part of robot product development, because the weight and surface hardness of the objects are different, which poses a huge challenge to the adaptability and accuracy of the finger pressure feedback control scheme. At present, most of the finger pressure feedback of dexterous hands is based on strain gauge pressure sensors. Generally, strain gauges are pasted on the end of the finger, and the pressure exerted by the robot finger on the surface of the object is detected by the strain gauge to control the movement of the finger. The pressure detected by the strain gauge is a direct detection. It is not an ideal solution for the downward pressure detection of the complex situation of finger grasping, becau...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problems existing in the prior art, the object of the present invention is to provide a robot dexterous hand finger control method and system, which solves the problem of finger detection through strain gauges by converting finger pressure detection into motor current detection for driving finger movement. The problem of inaccurate pressure has been improved, and the accuracy and convenience of pressure measurement have been improved, and the accuracy of finger feedback control has been greatly improved; the control system has a simple structure and is easy to operate and implement

Images