Control platform of multifinger mechanical skillful closed ring real time action

A technology of real-time action and control platform, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems that do not conform to the feeling mode and affect the control effect, and achieve the effect of good effect and natural control method.

Inactive Publication Date: 2006-06-14
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, although these methods have achieved closed-loop feedback, they are not in line

Method used

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  • Control platform of multifinger mechanical skillful closed ring real time action
  • Control platform of multifinger mechanical skillful closed ring real time action

Examples

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Embodiment Construction

[0022] A preferred embodiment of the present invention is: see figure 1, the multi-fingered mechanical dexterous hand closed-loop real-time motion control platform, including the multi-fingered mechanical dexterous hand and its controller located at the teleoperation work site, the camera group located at the teleoperation work site and the three-dimensional glasses or helmet worn by the control personnel in the control room The three-dimensional monitoring system of the working status of mechanical dexterous hands composed of monitors, the control personnel's gesture and posture information analysis system (LAP system for short) composed of the camera group located in the control room and the information analysis and processing computer, and the information analysis and processing computer and the control personnel's wear force A virtual force-sense generating system composed of feedback data gloves. (1) In the space above the multi-fingered mechanical dexterous hand 1, a mul...

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Abstract

A closed-loop real-time action control platform for multi-finger manipulator is composed of a multi-finger manipulator, 3D action monitoring system, a system for tracking and analyzing the gesture of operator (LAP system), and virtual force sensation generating system. Said operator uses a pair of stereoscopic glasses or a helmet display to observe the action of multi-finger manipulator and express it by gesture.

Description

technical field [0001] The invention relates to a control system of a manipulator, in particular to a closed-loop real-time control platform for a multi-finger mechanical dexterous hand. Background technique [0002] With the development of science and technology, the scope of application of robots continues to expand. The most basic and common task in robotics is to manipulate objects, and the manipulator is the most commonly used device and the most important tool for this task. At present, the most common manipulator is a simple gripping device. However, due to its simple structure, the clamping device can usually only grasp objects with relatively regular shapes, and complete simple operations such as "pick-and-place". The emergence of multi-finger, multi-joint and multi-degree-of-freedom mechanical dexterous hands has improved the robot's operating capabilities. It can be used to grasp objects with different materials and complex surface shapes, and use various tools ...

Claims

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Application Information

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IPC IPC(8): B25J13/06
Inventor 朱方文龚振邦韦穗
Owner SHANGHAI UNIV
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