Control method and device for enabling robot to follow virtual object and rehabilitation robot
A technology of virtual objects and control methods, applied in the field of rehabilitation robots, can solve problems such as large speed deviation, and achieve the effects of reducing speed difference, improving tactile experience, and suppressing position difference
Active Publication Date: 2021-12-10
SHANGHAI FOURIER INTELLIGENCE CO LTD
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[0009] The embodiment of the present application provides a control method, device and rehabilitation robot for the robot to follow the virtual object, so as to solve the problem that the existing technology is easy to suppress the position deviation. Technical issues causing large speed deviations
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[0029] In order to understand the characteristics and technical contents of the embodiments of the present application in more detail, the implementation of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. The attached drawings are only for reference and description, and are not intended to limit the embodiments of the present application. In the following technical description, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawings.
[0030] The terms "first" and "second" in the description and claims of the embodiments of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to descr...
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The invention relates to the technical field of robots, and discloses a control method for enabling a robot to follow a virtual object. The control method comprises the steps that the position difference value between the virtual position, fed back by a physical engine, of the virtual object and the real position of the robot is obtained; the virtual speed, fed back by the physical engine, of the virtual object is obtained; the virtual position and the virtual speed are obtained in the mode that the physical engine calculates the motion state of the virtual object according to the external force borne by the robot; a first product of the position difference value and a first set coefficient is obtained, and an expected speed is confirmed according to the first product and the virtual speed; and the robot is controlled according to the expected speed. Through adoption of the control method, on the basis that the position difference value is restrained, the speed difference value between the real speed of the robot and the virtual speed of the virtual object can be reduced, and then the touch experience of a user in the process of using the robot is improved. The invention further discloses a control device for enabling the robot to follow the virtual object and the rehabilitation robot.
Description
technical field [0001] The present application relates to the field of robot technology, for example, to a control method and device for making a robot follow a virtual object, and a rehabilitation robot. Background technique [0002] The physics engine calculates motion, rotation, and collision reflections by assigning realistic physical properties to rigid objects. The physics engine can simulate the motion state of virtual objects in various virtual environments. After combining the physics engine with the robot, the force state and motion state of the virtual object in the virtual environment can be fed back to the user through the robot, so that the user can obtain For a more realistic tactile experience, this solution can be applied to scenarios such as physical training and rehabilitation training. [0003] The physics engine can be used in the following ways: the physics engine creates a virtual environment, and configures the virtual environment and virtual objects...
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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1661
Inventor 陈鑫顾捷陆晓
Owner SHANGHAI FOURIER INTELLIGENCE CO LTD