Multi-fingered dexterous hand state monitoring method, device and equipment based on digital twinning

Abstract

The invention discloses a multi-fingered dexterous hand state monitoring method, device and equipment based on digital twinning. The multi-fingered dexterous hand state monitoring method comprises the following steps that a digital twinning model of a multi-fingered dexterous hand is constructed; state related sensor data, joint position sensor data and pose image data of the multi-fingered dexterous hand are collected; the state related sensor data are marked and input into an SVM multi-classifier for training to obtain state information; the pose image data are input into a pose judging device for training to obtain joint angle and coordinate data; weighted calculation is conducted on the joint angle and coordinate data and the joint position sensor data to obtain pose information of the multi-fingered dexterous hand; and the state information and the pose information are synchronized into the digital twinning model, and the state of the multi-fingered dexterous hand is monitored. According to the multi-fingered dexterous hand state monitoring method, device and equipment, the state of the multi-fingered dexterous hand can be monitored and evaluated simply and conveniently, illegal operation of the dexterous hand can be predicted in time, early warning can be carried out, and loss of enterprise property and personal safety is avoided.

Description

technical field [0001] The invention relates to the technical field of industrial equipment detection, in particular to a digital twin-based multi-finger dexterous hand state monitoring method, device and equipment. Background technique [0002] The humanoid multi-fingered dexterous hand is a mechatronics system with high integration and high intelligence. The multi-fingered dexterous hand generally has 3-5 fingers and more than 8 independent degrees of freedom, and has multiple perception capabilities. Being able to analyze the environment and operate on objects according to the target type, the dexterous hand is very similar to the human hand, and can also perform operations such as stretching and grasping, and has a high degree of dexterity and multi-faceted applicability. [0003] Due to technical reasons, the current multi-fingered dexterous hand has a complex structure, high cost and is easily damaged. However, at present, there is no real-time monitoring method for t...

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a digital twin-based multi-fingered dexterous hand state monitoring method, device, and equipment to solve the problem of inability to monitor and effectively evaluate the state of multi-fingered dexterous hands in the prior art and easily lead to more serious problems. matter of consequence

Images