Dexterous hand control method, device, dexterous hand and computer-readable storage medium

Abstract

The present invention discloses a dexterous hand control method, device, dexterous hand and computer-readable storage medium, and relates to the field of dexterous hand control. The method comprises: when the dexterous hand fingers grasp the operation object, judging whether the operation object moves relative to the dexterous hand fingers according to the current distributed force of the dexterous hand fingers; if the operation object moves relative to the dexterous hand fingers, obtaining the current working current of the dexterous hand motor; obtaining the motor control amount according to the current distributed force, the current working current and the target control parameter, and controlling the dexterous hand motor according to the motor control amount. In this way, the motor control amount of the dexterous hand motor corresponding to each finger joint is obtained according to the current distributed force corresponding to the dexterous hand fingers and the current working current of the dexterous hand motor corresponding to each finger joint by using the control algorithm, so as to coordinate and control the balanced force of each dexterous hand finger according to the motor control amount of the motor corresponding to each finger joint, so as to achieve the best grasping stable state of the dexterous hand and prevent the object from slipping.

Description

Technical Field

[0001] The present invention relates to the field of dexterous hand control, and in particular to a dexterous hand control method, device, dexterous hand and computer-readable storage medium. Background Art

[0002] At present, the traditional dexterous hand grasping system is based on machine vision. However, in the final physical contact stage of grasping, it is open-loop and unstable, and the stability state of the object after grasping is difficult to estimate and predict. Therefore, in the grasping operation of the dexterous hand, it is necessary to timely determine whether the grasp is stable and quickly control the dexterous hand's grasping stability. Summary of the invention

[0003] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and to provide a dexterous hand control method, device, dexterous hand and computer-readable storage medium, which are used to obtain the motor control quantity by utilizing a control algorithm and combining the current distributed force parameters and current working current parameters of the dexterous hand, and control the dexterous hand to quickly reach a stable grasping state according to the motor control quantity.

[0004] The present invention provides the following technical solutions:

[0005] In a first aspect, the present disclosure provides a dexterous hand control method, the method comprising:

[0006] When the dexterous hand fingers grasp the operation object, it is determined whether the operation object moves relative to the dexterous hand fingers according to the current distributed force of the dexterous hand fingers;

[0007] If the operation object moves relative to the fingers of the dexterous hand, the current operating current of the motor of the dexterous hand is obtained;

[0008] The motor control quantity is obtained according to the current distributed force, the current working current and the target control parameter, and the dexterous hand motor is controlled according to the motor control quantity.

[0009] In one embodiment, the motor control amount is obtained according to the target control parameter, the current distributed force and the current working current, including:

[0010] Determine whether the motor of the smart hand is unloaded based on the current working current;

[0011] If the dexterous hand motor is loaded, the motor control quantity is obtained according to the target control parameters, the current distributed force and the current working current in the current control cycle.

[0012] In one embodiment, in the current control cycle, the motor control amount is obtained according to the target control parameter, the current distributed force and the current working current, including:

[0013] Obtaining target grip force and target movement position according to the grasping instruction;

[0014] In the current control cycle, the current control error is determined according to the current working current, the current distributed force, the target gripping force and the target motion position;

[0015] Obtain the historical control error of the dexterous hand motor;

[0016] The motor control quantity of the current control cycle is obtained according to the target control parameters, the current control error and the historical control error.

[0017] In one embodiment, determining the current control error according to the current working current, the current distributed force, the target gripping force and the target motion position includes:

[0018] Obtaining the target working current and target distributed force, as well as the current grasping force and current motion position of the dexterous hand motor under the current working current;

[0019] The current control error is determined according to the current working current, the current distributed force, the current grasping force and the current motion position, as well as the target working current, the target distributed force, the target grasping force and the target motion position.

[0020] In one embodiment, obtaining the motor control amount of the current control cycle according to the target control parameter, the current control error and the historical control error includes:

[0021] Add the historical control error and the current control error to get the total control error;

[0022] Obtain the current error change rate according to the current control error;

[0023] The motor control quantity is obtained according to the target control parameter, the current control error, the total control error and the current error change rate.

[0024] In one embodiment, the current control error is determined according to the current working current, the current distributed force, the current gripping force and the current motion position, as well as the target working current, the target distributed force, the target gripping force and the target motion position, including:

[0025] Obtaining a first error according to a difference between the target grasping force and the current grasping force, and a difference between the target motion position and the current motion position;

[0026] Obtaining a second error according to the target operating current and the current operating current;

[0027] Obtaining a third error according to the target distributed force and the current distributed force;

[0028] A current control error is obtained according to the first error, the second error, the third error and a preset weight coefficient.

[0029] In one embodiment, after determining whether the dexterous hand motor is unloaded according to the current working current, the method further includes:

[0030] If the motor of the dexterous hand is unloaded, the motor steps are obtained according to the target motion position, and the motor of the dexterous hand is controlled according to the motor steps.

[0031] In a second aspect, the present disclosure provides a dexterous hand control device, the device comprising:

[0032] A judgment module, used for judging whether the operation object moves relative to the dexterous hand fingers according to the current distribution force of the dexterous hand fingers when the dexterous hand fingers grasp the operation object;

[0033] An acquisition module, used for acquiring the current operating current of the motor of the dexterous hand if the operating object moves relative to the fingers of the dexterous hand;

[0034] The control module is used to obtain the motor control quantity according to the current distributed force, the current working current and the target control parameter, and control the dexterous hand motor according to the motor control quantity.

[0035] In a third aspect, the present disclosure proposes a dexterous hand, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the dexterous hand control method proposed in the first aspect is implemented.

[0036] In a fourth aspect, the present disclosure proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the dexterous hand control method proposed in the first aspect.

[0037] The dexterous hand control method, device, dexterous hand and computer-readable storage medium disclosed in the present invention, when the dexterous hand fingers grasp the operation object, determine whether the operation object moves relative to the dexterous hand fingers according to the current distributed force of the dexterous hand fingers; if the operation object moves relative to the dexterous hand fingers, obtain the current working current of the dexterous hand motor; obtain the motor control amount according to the current distributed force, the current working current and the target control parameter, and control the dexterous hand motor according to the motor control amount. In this way, whether the current grasping state of the dexterous hand is stable is judged according to the current distributed force of the dexterous hand fingers. When it is unstable, the control algorithm is used to obtain the motor control quantity of the dexterous hand motor corresponding to each finger joint according to the current distributed force corresponding to the dexterous hand fingers and the current working current of the dexterous hand motor corresponding to each finger joint. Therefore, the balanced force of each dexterous hand finger is coordinated and controlled according to the motor control quantity of the motor corresponding to each finger joint, so as to achieve the best grasping stable state of the dexterous hand and avoid objects from slipping. It can also adapt to different environments and task requirements, thereby improving the breadth and flexibility of dexterous hand control applications. At the same time, accurate perception of the operation of the dexterous hand is achieved according to the detection of the current distributed force and the current working current. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0039] Figure 1 A schematic diagram of a flow chart of the dexterous hand control method proposed in this embodiment is shown;

[0040] Figure 2 Another schematic diagram of the flow chart of the dexterous hand control method proposed in this embodiment is shown;

[0041] Figure 3 Another schematic diagram of the flow chart of the dexterous hand control method proposed in this embodiment is shown;

[0042] Figure 4 A schematic diagram showing the target motion position of the dexterous hand proposed in this embodiment;

[0043] Figure 5 Another schematic diagram of the flow chart of the dexterous hand control method proposed in this embodiment is shown;

[0044] Figure 6 A structural schematic diagram of the dexterous hand control device proposed in this embodiment is shown.

[0045] Description of Figure Numbers:

[0046] 600 - dexterous hand control device; 601 - judgment module; 602 - acquisition module; 603 - control module. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0048] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0049] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0050] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0051] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. Terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0052] Example 1

[0053] The disclosed embodiment provides a dexterous hand control method for obtaining a motor control amount by utilizing a control algorithm and combining the current distributed force parameters and the current working current parameters of the dexterous hand, and controlling the dexterous hand to quickly reach a stable grasping state according to the motor control amount.

[0054] See also Figure 1 The dexterous hand control method includes steps S101 to S103, and each step is described in detail below.

[0055] Step S101, when the dexterous hand fingers grasp the operation object, it is determined whether the operation object moves relative to the dexterous hand fingers according to the current distribution force of the dexterous hand fingers.

[0056] In this embodiment, when the dexterous hand grasps the operation object, if there is external interference at this time, such as the movement of the mechanical arm connected to the dexterous hand, the operation object may slide relative to the dexterous hand fingers, resulting in the dexterous hand fingers being unable to grasp the operation object in a stable state. However, this unstable state cannot be accurately seen by the naked eye. Therefore, it is necessary to analyze the current distribution force of the contact surface of the dexterous hand fingers to determine whether the operation object has relative displacement. Among them, the operation object is the object grasped by the dexterous hand fingers.

[0057] For example, image analysis can be used to determine whether the operating object moves relative to the fingers of the dexterous hand. For example, the current distributed force analog information of each finger of the dexterous hand is obtained according to the tactile pressure array sensor of the fingers of the dexterous hand, and the distributed force analog information is converted into a digital signal through multi-channel analog AD sampling, and then the arrayed current distributed force digital information is uniformly mapped into a tactile image, and then through linear transformation, a grayscale image of the object contact force distribution parameter is obtained, such as Figure 2 shown.

[0058] Furthermore, by comparing the difference in the grayscale images of the contact force distribution parameters of two consecutive frames, the optical flow method is used to determine whether the operating object is stationary or moving. The optical flow method uses the change of pixels in the image sequence in the time domain and the correlation between adjacent frames to find the corresponding relationship between the previous frame and the current frame, thereby calculating the motion information of the object between adjacent frames.

[0059] Step S102: if the operating object moves relative to the fingers of the dexterous hand, the current operating current of the motor of the dexterous hand is obtained.

[0060] In this embodiment, each finger joint of the dexterous hand corresponds to a dexterous hand motor. If the operation object moves relative to the fingers of the dexterous hand, the dexterous hand motor continues to control the dexterous hand fingers to apply force to the operation object according to the current electrical pulse signal, and at the same time obtains the current working current of each dexterous hand motor through the motor current sampling circuit. In this way, the dexterous hand parameters are obtained through the tactile pressure sensor and the motor current sampling circuit, realizing accurate perception of the operation of the dexterous hand.

[0061] Step S103, obtaining the motor control amount according to the current distributed force, the current working current and the target control parameter, and controlling the dexterous hand motor according to the motor control amount.

[0062] In this embodiment, the motor control amount of each dexterous hand motor is obtained according to the current distributed force of the dexterous hand fingers, the current working current of each dexterous hand motor and the target control parameter, and then the motor control amount is input to the corresponding dexterous hand motor to change the current operating parameters of the dexterous hand, so as to integrate the dexterous hand motor control amount corresponding to each dexterous hand finger joint so that the entire dexterous hand is in a stable state when grasping the operation object. Among them, each dexterous hand motor has a corresponding target control parameter, and the target control parameter is obtained by adjusting the parameters of the dexterous hand fingers to quickly reach a stable state when grasping an object through the proportional-integral-derivative algorithm according to the actual effect through multiple tests.

[0063] See also Figure 3In a specific embodiment, step S103 includes steps S1031 to S1032, and each step is described in detail below.

[0064] Step S1031, judging whether the dexterous hand motor is unloaded according to the current working current.

[0065] In this embodiment, for each dexterous hand motor, it is determined whether the corresponding dexterous hand motor is unloaded according to the current working current. Generally, the current of the motor when it is unloaded will be less than its rated operating current, and the specific value of the rated operating current depends on the design, rated power and application environment of the motor; if the current current value is greater than the no-load current (or close to the rated current), it can be determined that the dexterous hand motor is currently in a loaded state.

[0066] Step S1032: If the dexterous hand motor is loaded, then in the current control cycle, the motor control amount is obtained according to the target control parameter, the current distributed force and the current working current.

[0067] In this embodiment, if the dexterous hand motor is in a load state, a control cycle is started, and the motor control amount of the current control cycle is obtained according to the target control parameters, the current distributed force and the current working current in the current control cycle, and the obtained motor control amount is output to the dexterous hand motor in the current control cycle to control the dexterous hand to be in a stable state when grasping the operation object. Then, turn to execute step S1031 to loop steps S1031~S1032. If the dexterous hand motor is in a load state again, the next control cycle is started to calculate the motor control amount of the cycle, and the dexterous hand grasps the operation object according to the motor control amount in the cycle.

[0068] In a specific embodiment, after step S1031, it also includes: if the dexterous hand motor is unloaded, obtaining the motor steps according to the target motion position, and controlling the dexterous hand motor according to the motor steps.

[0069] In this embodiment, if the dexterous hand motor is in an unloaded state, the motor steps are obtained according to the target motion position that the dexterous hand motor needs to reach, and the dexterous hand motor is controlled according to the motor steps. The target motion position is determined according to the grasping instruction issued by the user.

[0070] It should be noted that a stepper motor is a motor that converts electrical pulse signals into angular displacement. Each time a pulse signal is received, the stepper motor will rotate a step angle. The number of steps is calculated based on the target angle (target motion position) and the step angle. The specific number of steps can be calculated using the following formula: Motor steps = target angle / step angle.

[0071] For example, see Figure 4If the finger joint wants to bend 60 degrees, that is, the target angle of the motor rotation is 60 degrees, and the step angle of the stepper motor is 1.8 degrees, then each time a pulse signal is received, the motor will rotate 1.8 degrees, and 60 / 1.8≈33 pulse signals need to be sent to control the corresponding joint motor to reach the target motion position that needs to be reached.

[0072] See also Figure 5 In a specific embodiment, step S1032 includes steps S501 to S504, and each step is described in detail below.

[0073] Step S501, obtaining a target grasping force and a target motion position according to a grasping instruction.

[0074] In this embodiment, the target grasping force and target movement position required by the fingers of the dexterous hand are determined according to the grasping instruction issued by the user.

[0075] Step S502, in the current control cycle, determining the current control error according to the current working current, the current distributed force, the target gripping force and the target motion position.

[0076] In this embodiment, for each dexterous hand motor, in the current control cycle, the current control error in the current control cycle is calculated according to the current working current, the current distributed force, the target gripping force and the target motion position. The current control error is obtained by superimposing the errors respectively calculated from the current working current, the current distributed force, the target gripping force and the target motion position according to the preset error distribution weight.

[0077] Step S503, obtaining the historical control error of the dexterous hand motor.

[0078] In this embodiment, for each dexterous hand motor, the historical control error of the dexterous hand motor is the error corresponding to the historical control cycle before the current control cycle. For example, if the calculation and output of the motor control amount in the current control cycle A have been completed, and the calculation of the motor control amount in the next control cycle B is entered, then the current control cycle A is used as the historical control cycle, and its corresponding current control parameter a is also used as the historical control parameter.

[0079] Step S504 , obtaining the motor control amount of the current control cycle according to the target control parameter, the current control error and the historical control error.

[0080] In this embodiment, for each dexterous hand motor, the motor control amount in the current control cycle is obtained according to the target control parameter, the current control error and the historical control error. Among them, the target control parameter includes a proportional gain parameter, an integral gain parameter and a differential gain parameter. The proportional gain parameter, the integral gain parameter and the differential gain parameter are weighted by the current control error and the historical control error. Each item is adjusted for different aspects of the error signal, so that the performance of the dexterous hand motor can be optimized by adjusting these three gains, so that the error can be reduced quickly and stably.

[0081] In a specific embodiment, step S502 includes: obtaining the target working current and target distributed force, as well as the current grasping force and current movement position of the dexterous hand motor under the current working current; determining the current control error based on the current working current, the current distributed force, the current grasping force and the current movement position, as well as the target working current, the target distributed force, the target grasping force and the target movement position.

[0082] In this embodiment, for each dexterous hand motor, the target working current and target distributed force that the dexterous hand motor needs to achieve, as well as the current grasping force and current movement position of the dexterous hand motor under the current working current are obtained, wherein the current grasping force is obtained comprehensively based on the current working current and the current distributed force.

[0083] Furthermore, a current control error is determined according to a current working current and a target working current, a current distributed force and a target distributed force, a current grasping force and a target grasping force, and a current motion position and a target motion position.

[0084] In a specific embodiment, the current control error is determined based on the current working current, the current distributed force, the current gripping force and the current motion position, as well as the target working current, the target distributed force, the target gripping force and the target motion position, including: obtaining a first error based on the difference between the target gripping force and the current gripping force, and the difference between the target motion position and the current motion position; obtaining a second error based on the target working current and the current working current; obtaining a third error based on the target distributed force and the current distributed force; obtaining the current control error based on the first error, the second error, the third error and a preset weight coefficient.

[0085] In this embodiment, the first error is obtained according to the difference between the target gripping force and the current gripping force, and the difference between the target motion position and the current motion position. The calculation formula is: = (target grip force - current grip force) + (current movement position - target movement position).

[0086] The second error is obtained according to the target working current and the current working current. The calculation formula is: The second error =Current working current - target working current.

[0087] The third error is obtained according to the target distributed force and the current distributed force. The calculation formula is: The third error =Current distributed force - target distributed force.

[0088] Furthermore, the current control error is obtained according to the first error, the second error, the third error and the preset weight coefficient, so that the role of the first error, the second error and the third error in the control is calculated by the preset weight coefficient. The calculation formula is: = × - × - × , where w1, w2, and w3 are different preset weight coefficients.

[0089] In a specific embodiment, step S504 includes: adding the historical control error and the current control error to obtain the total control error; obtaining the current error change rate based on the current control error; and obtaining the motor control amount of the current control cycle based on the target control parameter, the current control error, the total control error and the current error change rate.

[0090] In this embodiment, for each dexterous hand motor, the historical control error and the current control error are added to obtain the total control error, that is, the control error is integrated to obtain the cumulative value of the control error from the past to the present.

[0091] Furthermore, the current error change rate is obtained according to the current control error, that is, the current control error is differentiated to obtain the change rate of the current control error.

[0092] Furthermore, the motor control amount of the current control cycle is obtained according to the target control parameter, the current control error, the total control error and the current error change rate, that is, the proportional gain parameter, the integral gain parameter and the differential gain parameter are weighted by the current control error, the total control error and the current error change rate. The calculation formula is: . t is the current time; is the motor control quantity at the current time; is the proportional gain parameter; is the integral gain parameter; is the differential gain parameter; is the integral of the control error from time 0 to t, i.e. the total control error, is the current control error The current time is determined according to the control cycle. If a control cycle is 100ms and the current control cycle is the third control cycle, then the current time ist is 300ms.

[0093] It should be noted that the proportional term The weighting of makes the output of the proportional term large if the current control error is large, which helps to respond to the error quickly; the integral term The weighting of makes the integral term gradually increase as long as the current control error persists, even if the current control error is small, which helps to eliminate the steady-state error; the differential term The weighting of can predict the future trend of the control error and make adjustments in advance by considering the change rate of the current control error, which helps to improve the dynamic performance of the motor corresponding to the finger joints of the dexterous hand and reduce overshoot and oscillation. In this way, by adjusting the PID target control parameters, the motor can achieve the optimal control effect.

[0094] The dexterous hand control method proposed in this embodiment, when the dexterous hand fingers grasp the operation object, it is judged whether the operation object moves relative to the dexterous hand fingers according to the current distributed force of the dexterous hand fingers; if the operation object moves relative to the dexterous hand fingers, the current working current of the dexterous hand motor is obtained; the motor control amount is obtained according to the current distributed force, the current working current and the target control parameter, and the dexterous hand motor is controlled according to the motor control amount. In this way, it is judged whether the current dexterous hand grasping state is stable according to the current distributed force of the dexterous hand fingers. When it is unstable, the motor control amount of the dexterous hand motor corresponding to each finger joint is obtained according to the current distributed force corresponding to the dexterous hand fingers and the current working current of the dexterous hand motor corresponding to each finger joint by using the control algorithm, so as to coordinate and control the balanced force of each dexterous hand finger according to the motor control amount of the motor corresponding to each finger joint, so as to achieve the best grasping stable state of the dexterous hand, avoid the object from slipping, and can adapt to different environments and task requirements, thereby improving the breadth and flexibility of the dexterous hand control application; at the same time, according to the detection of the current distributed force and the current working current, the accurate perception of the operation of the dexterous hand is realized.

[0095] Example 2

[0096] In addition, the present disclosure provides a dexterous hand control device 600, see Figure 6 , the device comprises:

[0097] The judging module 601 is used to judge whether the operating object moves relative to the fingers of the dexterous hand when the fingers of the dexterous hand grasp the operating object according to the current distribution force of the fingers of the dexterous hand;

[0098] An acquisition module 602 is used to acquire the current operating current of the motor of the dexterous hand if the operating object moves relative to the fingers of the dexterous hand;

[0099] The control module 603 is used to obtain the motor control amount according to the current distributed force, the current working current and the target control parameter, and control the dexterous hand motor according to the motor control amount.

[0100] Optionally, the control module 603 is used to determine whether the dexterous hand motor is unloaded based on the current working current; if the dexterous hand motor is loaded, then within the current control cycle, the motor control quantity is obtained based on the target control parameters, the current distributed force and the current working current.

[0101] Optionally, the control module 603 is used to obtain the target grasping force and target movement position according to the grasping instruction; determine the current control error in the current control cycle according to the current working current, the current distributed force, the target grasping force and the target movement position; obtain the historical control error of the dexterous hand motor; and obtain the motor control quantity of the current control cycle according to the target control parameters, the current control error and the historical control error.

[0102] Optionally, the control module 603 is used to obtain the target working current and target distributed force, as well as the current grasping force and current movement position of the dexterous hand motor under the current working current; and determine the current control error based on the current working current, current distributed force, current grasping force and current movement position, as well as the target working current, target distributed force, target grasping force and target movement position.

[0103] Optionally, the control module 603 is used to add the historical control error and the current control error to obtain the total control error; obtain the current error change rate based on the current control error; and obtain the motor control amount based on the target control parameter, the current control error, the total control error and the current error change rate.

[0104] Optionally, the control module 603 is used to obtain a first error based on the difference between the target grasping force and the current grasping force, and the difference between the target movement position and the current movement position; obtain a second error based on the target working current and the current working current; obtain a third error based on the target distributed force and the current distributed force; and obtain a current control error based on the first error, the second error, the third error and a preset weight coefficient.

[0105] Optionally, an acquisition module 602 is used to obtain the number of motor steps according to the target motion position if the motor of the dexterous hand is unloaded;

[0106] The control module 603 is used to control the motor of the dexterous hand according to the number of motor steps.

[0107] The device provided in the embodiment of the present disclosure can execute the steps of the dexterous hand control method provided in Example 1, which will not be described again to avoid repetition.

[0108] The dexterous hand control device proposed in this embodiment, when the dexterous hand fingers grasp the operation object, judge whether the operation object moves relative to the dexterous hand fingers according to the current distributed force of the dexterous hand fingers; if the operation object moves relative to the dexterous hand fingers, obtain the current working current of the dexterous hand motor; obtain the motor control amount according to the current distributed force, the current working current and the target control parameter, and control the dexterous hand motor according to the motor control amount. In this way, judge whether the current dexterous hand grasping state is stable according to the current distributed force of the dexterous hand fingers, when it is unstable, use the control algorithm to obtain the motor control amount of the dexterous hand motor corresponding to each finger joint according to the current distributed force corresponding to the dexterous hand fingers and the current working current of the dexterous hand motor corresponding to each finger joint, so as to coordinate and control the balanced force of each dexterous hand finger according to the motor control amount of the motor corresponding to each finger joint, so as to achieve the best grasping stable state of the dexterous hand, avoid the object from slipping, and can adapt to different environments and task requirements, thereby improving the breadth and flexibility of the dexterous hand control application; at the same time, according to the detection of the current distributed force and the current working current, the accurate perception of the operation of the dexterous hand is realized.

[0109] Example 3

[0110] In addition, an embodiment of the present disclosure provides a dexterous hand, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the dexterous hand control method of embodiment 1 is implemented.

[0111] The device provided in the embodiment of the present disclosure can execute the steps of the dexterous hand control method provided in Example 1, which will not be described again to avoid repetition.

[0112] Example 4

[0113] The embodiment of the present disclosure provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the dexterous hand control method of the embodiment 1 is implemented.

[0114] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0115] The computer-readable storage medium provided in this embodiment can implement the dexterous hand control method provided in Example 1, and will not be described again here to avoid repetition.

[0116] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0117] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0118] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A dexterous hand control method, characterized in that: The method comprises: When the dexterous hand fingers grasp the operation object, judging whether the operation object moves relative to the dexterous hand fingers according to the current distribution force of the dexterous hand fingers; If the operation object moves relative to the finger of the dexterous hand, obtaining the current working current of the motor of the dexterous hand; Acquire a motor control amount according to the current distributed force, the current working current and the target control parameter, and control the dexterous hand motor according to the motor control amount; Wherein, obtaining the motor control amount according to the current distributed force, the current working current and the target control parameter includes: Determining whether the dexterous hand motor is unloaded according to the current working current; If the dexterous hand motor is loaded, then in the current control cycle, the motor control amount is obtained according to the target control parameter, the current distributed force and the current working current; Wherein, in the current control cycle, obtaining the motor control amount according to the target control parameter, the current distributed force and the current working current includes: Obtaining target grip force and target movement position according to the grasping instruction; In the current control cycle, determining a current control error according to the current working current, the current distributed force, the target gripping force and the target motion position; Obtaining historical control errors of the motor of the dexterous hand; Acquire the motor control amount of the current control cycle according to the target control parameter, the current control error and the historical control error; Wherein, determining the current control error according to the current working current, the current distributed force, the target gripping force and the target motion position includes: Acquire a target working current and a target distributed force, as well as a current grasping force and a current motion position of the dexterous hand motor under the current working current; determining the current control error according to the current working current, the current distributed force, the current gripping force and the current motion position, and the target working current, the target distributed force, the target gripping force and the target motion position; Wherein, determining the current control error according to the current working current, the current distributed force, the current gripping force and the current motion position, and the target working current, the target distributed force, the target gripping force and the target motion position comprises: Obtaining a first error according to a difference between the target gripping force and the current gripping force, and a difference between the target motion position and the current motion position; Obtaining a second error according to the target operating current and the current operating current; Obtaining a third error according to the target distributed force and the current distributed force; The current control error is obtained according to the first error, the second error, the third error and a preset weight coefficient.

2. The dexterous hand control method according to claim 1, characterized in that: The step of obtaining the motor control amount of the current control cycle according to the target control parameter, the current control error and the historical control error includes: Adding the historical control error and the current control error to obtain a total control error; Obtaining a current error change rate according to the current control error; The motor control amount is obtained according to the target control parameter, the current control error, the total control error and the current error change rate.

3. The dexterous hand control method according to claim 1, characterized in that: After judging whether the dexterous hand motor is unloaded according to the current working current, the method further includes: If the dexterous hand motor is unloaded, the motor steps are obtained according to the target motion position, and the dexterous hand motor is controlled according to the motor steps.

4. A dexterous hand control device, characterized in that: The device comprises: A judgment module, used for judging whether the operation object moves relative to the dexterous hand fingers when the dexterous hand fingers grasp the operation object according to the current distribution force of the dexterous hand fingers; an acquisition module, configured to acquire a current operating current of a motor of the dexterous hand if the operating object moves relative to the finger of the dexterous hand; A control module, used for obtaining a motor control amount according to the current distributed force, the current working current and a target control parameter, and controlling the dexterous hand motor according to the motor control amount; The control module is further used to determine whether the dexterous hand motor is unloaded according to the current working current; if the dexterous hand motor is loaded, then in the current control cycle, the motor control amount is obtained according to the target control parameter, the current distributed force and the current working current; The control module is further used to obtain the target gripping force and the target motion position according to the gripping instruction; determine the current control error according to the current working current, the current distributed force, the target gripping force and the target motion position in the current control cycle; obtain the historical control error of the dexterous hand motor; and obtain the motor control amount of the current control cycle according to the target control parameter, the current control error and the historical control error; The control module is further used to obtain a target working current and a target distributed force, as well as a current grasping force and a current motion position of the dexterous hand motor under the current working current; and determine the current control error according to the current working current, the current distributed force, the current grasping force and the current motion position, and the target working current, the target distributed force, the target grasping force and the target motion position; The control module is also used to obtain a first error based on the difference between the target grasping force and the current grasping force, and the difference between the target movement position and the current movement position; obtain a second error based on the target working current and the current working current; obtain a third error based on the target distributed force and the current distributed force; and obtain the current control error based on the first error, the second error, the third error and a preset weight coefficient.

5. A dexterous hand, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the dexterous hand control method according to any one of claims 1 to 3 is implemented.

6. A computer-readable storage medium, characterized in that: It stores a computer program, which, when executed by a processor, implements the dexterous hand control method as described in any one of claims 1 to 3.

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