A two-claw flexible manipulator grasping force and grasping pose control system and method
A technology of control system and control method, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inapplicability to industrial fields, complex target parts, and different requirements for clamping characteristics, and achieve the effect of increasing the stability of feeding
Active Publication Date: 2022-03-18
TAIZHOU RES INST ZHEJIANG UNIV OF TECH
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Problems solved by technology
Although this control method is more accurate for the force control of the flexible manipulator, it is not suitable for use in the industrial field.
On the one hand, this control method is more complicated and costly
On the other hand, the target parts faced in the industrial field are relatively complex, and the requirements for clamping characteristics are different and the range of change is large. It is difficult for the existing control methods to meet the requirements.
Method used
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Embodiment Construction
[0042]Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention.
[0043] See attached figure 1 , the first embodiment of the present invention is a two-claw flexible manipulator grasping force and grasping posture control system, including:
[0044] A two-claw flexible manipulator 100, which includes a first claw and a second claw symmetrically arranged on a fixed base, and the first claw and the second claw respectively include sequentially hinged knuckles, middle knuckles, and fingertip knuckles, a...
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The invention provides a system and method for controlling the grasping force and grasping posture of a two-claw flexible manipulator. The control system includes a two-claw flexible manipulator, which includes a first claw and a second claw symmetrically arranged on a fixed seat. The first claw and the second claw respectively comprise a phalangeal joint, a middle phalanx and a fingertip joint which are hinged in sequence, and a fingertip driving cylinder; a driving unit is used to provide and adjust the intake pressure of the fingertip driving cylinder or make the left and right fingers The tip drive cylinder forms a certain air pressure difference; the sensing unit is used to detect the gripping pressure of the claw and the intake pressure of the fingertip drive cylinder; and the controller is used to collect based on the control command and the claw pressure sensor and the air pressure detection sensor According to the data, the action of the air pressure adjusting device is controlled to adjust the intake pressure of the fingertip driving cylinder, thereby controlling the gripping force of the two-jaw flexible manipulator and / or adjusting the gripping posture.
Description
technical field [0001] The invention relates to the technical field of flexible manipulator control, in particular to a system and method for controlling the gripping force of a flexible manipulator and fine-tuning the gripping pose. Background technique [0002] The end effector of the manipulator is an important component of the manipulator actuator, and its structural design has a great influence on the grasping effect and work efficiency of the manipulator. However, the end effectors of general manipulators are mostly rigid structures, and their grasping force is relatively large, and most of the grasped objects are objects with relatively hard appearance and relatively regular shapes. [0003] The application of flexible manipulators in the industrial field has become more and more extensive. In the field of industrial manufacturing and assembly, robots are widely used. However, for different parts with different characteristic appearances and the gripping force require...
Claims
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IPC IPC(8): B25J15/00B25J15/02B25J15/08B25J9/16
CPCB25J15/0028B25J15/0206B25J15/0009B25J15/08B25J9/1612
Inventor 潘柏松邵旭辉吴全会
Owner TAIZHOU RES INST ZHEJIANG UNIV OF TECH