Manipulator, robot arm, robot control method, control system and computer readable storage medium

Abstract

The present invention discloses a control method, a control system and a computer-readable storage medium for a manipulator, a robotic arm and a robot. The control method comprises the steps of: determining a target task of the manipulator; determining the activity parameters of each finger according to the target task; the activity parameters include: a rotation angle; controlling the activity of the finger according to the activity parameters of the finger to perform the target task. Since the rotation modes of the first finger and the second finger are different, and both have two different rotation modes, the manipulator has a high degree of flexibility. By determining the target task of the manipulator, and then determining the activity parameters of each finger according to the target task, and then controlling the activity of the finger according to the activity parameters of the finger to perform or complete the target task. The rotation of the first finger and the second finger is accurately controlled by the activity parameters of each finger, so that the manipulator has a high degree of flexibility and a high degree of control accuracy.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a manipulator, a robot arm, a control method for a robot, a control system, and a computer-readable storage medium. Background Art

[0002] Manipulators are usually controlled by pre-programmed programs or through human-computer interaction. With the continuous development of technology, manipulators are more intelligent and automated, and thus developed into robotic arms or robots. For example, robotic arms or robots sense external conditions through sensors and provide feedback or make corresponding controls. In the field of industrial robots, the design and control of robotic arms are very important. Dexterous and accurate robotic arms have good application prospects in controlling complex objects. Robotic arms usually have multiple fingers, which can perform a variety of different tasks by controlling the activities of multiple fingers. In the prior art, it is not easy to balance the flexibility and accuracy of robotic arms. The higher the flexibility, the lower the control accuracy; the higher the control accuracy, the lower the flexibility.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, a control method, a control system and a computer-readable storage medium for a manipulator, a robotic arm and a robot are provided, aiming to solve the problem that it is not easy to take into account both the flexibility and accuracy of the manipulator in the prior art.

[0005] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0006] A control method for a manipulator, wherein the manipulator comprises: a palm and at least two fingers, wherein the fingers are arranged on the palm; a first finger of the at least two fingers rotates within a plane where the palm is located and within a first vertical plane of the palm, and a second finger of the at least two fingers rotates within a second vertical plane of the palm and within a third vertical plane of the palm; the control method comprises the steps of:

[0007] Determine the target task of the manipulator;

[0008] According to the target task, determining the activity parameters of each finger; the activity parameters include: rotation angle;

[0009] The finger activity is controlled according to the activity parameter of the finger to perform the target task.

[0010] The control method of the manipulator, wherein the rotation angle of the first finger portion includes: an x-axis angle of the first finger portion and a z-axis angle of the first finger portion; the rotation angle of the second finger portion includes: a y-axis angle of the second finger portion and a z-axis angle of the second finger portion; and the controlling the finger portion activity according to the activity parameter of the finger portion to perform the target task comprises:

[0011] Controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger;

[0012] The second finger is controlled to rotate according to the y-axis angle and the z-axis angle of the second finger.

[0013] The control method of the manipulator, wherein the first finger portion comprises:

[0014] A first finger, movably connected to the palm;

[0015] A first telescopic component, disposed on the palm and movably connected to the first finger;

[0016] A second telescopic component is disposed on the palm and movably connected to the first finger;

[0017] According to the x-axis angle and the z-axis angle of the first finger, controlling the first finger to rotate comprises:

[0018] Determining the telescopic amount of the first telescopic component and the telescopic amount of the second telescopic component according to the x-axis angle and the z-axis angle of the first finger;

[0019] Controlling the extension and retraction of the first retractable component according to the extension and retraction amount of the first retractable component;

[0020] The extension and retraction of the second retractable component is controlled according to the extension and retraction amount of the second retractable component.

[0021] The control method of the manipulator, wherein the second finger portion comprises:

[0022] A second finger, movably connected to the palm;

[0023] A second rotating component is disposed on the palm and movably connected to the second finger;

[0024] A third rotating component is disposed on the palm and movably connected to the second finger;

[0025] The controlling the second finger to rotate according to the y-axis angle and the z-axis angle of the second finger comprises:

[0026] Determining the rotation amount of the second rotating component according to the y-axis angle of the second finger, and controlling the second rotating component to rotate according to the rotation amount of the second rotating component;

[0027] The rotation amount of the third rotating component is determined according to the z-axis angle of the second finger, and the rotation of the third rotating component is controlled according to the rotation amount of the third rotating component.

[0028] The control method of the manipulator, wherein the first finger and the second finger are both bendable fingers; the activity parameters further include: a bending angle of the first finger and a bending angle of the second finger; and controlling the finger activity according to the activity parameters of the finger to perform the target task includes:

[0029] Controlling the bending of the first finger according to the bending angle of the first finger;

[0030] Control the bending angle of the second finger to control the bending of the second finger.

[0031] The control method of the manipulator, wherein the first finger comprises:

[0032] first proximal phalanx;

[0033] a first intermediate knuckle, rotatably connected to the first proximal knuckle;

[0034] a first distal knuckle, rotatably connected to the first intermediate knuckle;

[0035] A first connecting rod, two ends of which are respectively connected to the first proximal finger joint and the first distal finger joint;

[0036] a first drive assembly disposed on the first proximal knuckle;

[0037] Wherein, the first driving assembly is used to drive the first middle finger joint to rotate, and drive the first distal finger joint to rotate;

[0038] The step of controlling the bending of the first finger according to the bending angle of the first finger includes:

[0039] determining a control parameter of the first driving component according to the bending angle of the first finger;

[0040] According to the control parameters of the first driving component, the first driving component is controlled to drive the first middle finger joint to rotate.

[0041] The control method of the manipulator, wherein the second finger comprises:

[0042] second proximal phalanx;

[0043] a second intermediate knuckle, rotatably connected to the second proximal knuckle;

[0044] a second distal knuckle, rotatably connected to the second intermediate knuckle;

[0045] A second connecting rod, two ends of which are respectively connected to the second proximal knuckle and the second distal knuckle;

[0046] a second drive assembly disposed on the second proximal knuckle;

[0047] Wherein, the second driving assembly is used to drive the second middle finger joint to rotate, and drive the second distal finger joint to rotate;

[0048] The controlling the bending angle of the second finger and controlling the bending of the second finger includes:

[0049] determining a control parameter of the second driving component according to the bending angle of the second finger;

[0050] According to the control parameters of the second driving component, the second driving component is controlled to drive the second middle finger joint to rotate.

[0051] The control method of the robot arm, wherein the target task includes: at least one of gestures and actions; the actions include: at least one of grasping, pinching, patting, twisting, and tearing.

[0052] A control system for a manipulator comprises a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of any of the above methods when executing the computer program.

[0053] A computer-readable storage medium stores a computer program, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0054] A control method for a robot hand, wherein the robot hand comprises: a palm and at least two fingers, wherein the fingers are arranged on the palm; a first finger of the at least two fingers rotates within a plane where the palm is located and within a first vertical plane of the palm, and a second finger of the at least two fingers rotates within a second vertical plane of the palm and within a third vertical plane of the palm; the control method comprises the steps of:

[0055] Determine the target task of the robot hand;

[0056] According to the target task, determining the activity parameters of each finger; the activity parameters include: rotation angle;

[0057] The finger activity is controlled according to the activity parameter of the finger to perform the target task.

[0058] A control method for a robot, wherein the robot comprises: a palm and at least two fingers, wherein the fingers are arranged on the palm; a first finger of the at least two fingers rotates within a plane where the palm is located and within a first vertical plane of the palm, and a second finger of the at least two fingers rotates within a second vertical plane of the palm and within a third vertical plane of the palm; the control method comprises the steps of:

[0059] Determine the robot's target mission;

[0060] According to the target task, determining the activity parameters of each finger; the activity parameters include: rotation angle;

[0061] The finger activity is controlled according to the activity parameter of the finger to perform the target task.

[0062] Beneficial effect: Since the first finger and the second finger have different rotation modes and both have two different rotation modes, the manipulator has a higher flexibility. By determining the target task of the manipulator, and then determining the activity parameters of each finger according to the target task, and then controlling the finger activity according to the activity parameters of the finger to execute or complete the target task. The rotation of the first finger and the second finger is accurately controlled by the activity parameters of each finger, so that the manipulator has a higher flexibility and a higher control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 Schematic diagram of the structure of the manipulator in an embodiment of the present invention.

[0064] Figure 2 2 is a side view of the manipulator in an embodiment of the present invention.

[0065] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0066] Figure 4 is a first cross-sectional view of the first finger portion in an embodiment of the present invention.

[0067] Figure 5 yes Figure 4 Enlarged view of point B in the middle.

[0068] Figure 6 is a second cross-sectional view of the first finger portion in the embodiment of the present invention.

[0069] Figure 7 yes Figure 6 Enlarged view of point C in the middle.

[0070] Figure 8 Schematic diagram of the structure of the second finger in an embodiment of the present invention.

[0071] Fig. 9 yes Figure 8 Enlarged view of point D in the middle.

[0072] Fig.10 is a cross-sectional view of the second finger in an embodiment of the present invention.

[0073] Fig.11 4 is a flow chart of a control method of a manipulator in an embodiment of the present invention.

[0074] Description of reference numerals:

[0075] 10. palm; 20. first finger; 21. first finger; 211. first proximal knuckle; 212. first middle knuckle; 213. first distal knuckle; 214. first connecting rod; 215. first drive assembly; 2151. fourth drive; 2152. first worm; 2153. first worm wheel; 22. first telescopic assembly; 23. second telescopic assembly; 2a. moving body; 2b. kit; 2c. connecting member; 2d. elastic member; 2e. first drive; 2f. threaded rod ; 30. second finger; 31. second finger; 311. second proximal knuckle; 312. second intermediate knuckle; 313. second distal knuckle; 314. second connecting rod; 315. second drive assembly; 3151. fifth drive; 3152. second worm; 3153. second worm wheel; 32. second rotating assembly; 321. second rotating frame; 322. second drive; 33. third rotating assembly; 331. third rotating frame; 332. connecting rod; 333. third drive. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0077] Please also see Figure 1-Figure 10 , the present invention provides some embodiments of a manipulator.

[0078] like Figure 1 As shown, the manipulator of the present invention comprises: a palm 10 and at least two fingers, wherein the fingers are arranged on the palm 10; a first finger 20 of the at least two fingers rotates within the plane where the palm 10 is located and within the first vertical plane of the palm 10, and a second finger 30 of the at least two fingers rotates within the second vertical plane of the palm 10 and within the third vertical plane of the palm 10.

[0079] Specifically, the palm 10 is in the shape of a palm, and the finger is in the shape of a finger. There are at least two finger parts, one of which is recorded as a first finger part 20, and the other finger part is recorded as a second finger part 30. The first finger part 20 can rotate in the plane where the palm 10 is located and in the first vertical plane of the palm 10. The second finger part 30 can rotate in the second vertical plane of the palm 10 and in the third vertical plane of the palm 10.

[0080] The vertical plane refers to a plane perpendicular to the plane where the palm 10 is located. The third vertical plane and the second vertical plane are two different vertical planes of the palm 10. The first vertical plane can overlap with the second vertical plane to form one vertical plane, or the first vertical plane can not overlap with the second vertical plane and serve as two different vertical planes. The first vertical plane can overlap with the third vertical plane to form one vertical plane, or the first vertical plane can not overlap with the third vertical plane and serve as two different vertical planes. Since the rotation modes of the first finger and the second finger are different, and the first finger has two different rotation modes, and the second finger also has two different rotation modes, the manipulator has a higher degree of flexibility.

[0081] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the rotation angle of the first finger 20 includes: the x-axis angle of the first finger 20 and the z-axis angle of the first finger 20 ; the rotation angle of the second finger 30 includes: the y-axis angle of the second finger 30 and the z-axis angle of the second finger 30 .

[0082] Specifically, since the positions and orientations of the various fingers may not be exactly the same, a coordinate system may be established for each finger, for example, with the direction perpendicular to the plane where the palm 10 is located as the z-axis, the width direction of the palm 10 (or finger) as the y-axis, and the direction perpendicular to the z-axis and the y-axis as the x-axis. The first finger 20 is arranged along the x-axis direction, and the second finger 30 is arranged along the z-axis direction. The first finger 20 can rotate in the xy plane or in the xz plane, and the rotation angle of the first finger 20 can be expressed as the x-axis angle and the z-axis angle. The second finger 30 can rotate in the yz plane or in the xz plane, and the rotation angle of the second finger 30 can be expressed as the y-axis angle and the z-axis angle. The x-axis angle is the angle of the finger relative to the x-axis, the z-axis angle is the angle of the finger relative to the z-axis, and the y-axis angle is the angle of the finger relative to the y-axis.

[0083] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the first finger portion 20 includes:

[0084] A first finger 21, movably connected to the palm 10;

[0085] A first telescopic component 22, disposed on the palm 10 and movably connected to the first finger 21;

[0086] The second telescopic component 23 is disposed on the palm 10 and movably connected to the first finger 21 .

[0087] Specifically, the first telescopic component 22 and the second telescopic component 23 can both be telescopic, and when the telescopic directions of the first telescopic component 22 and the second telescopic component 23 are different, the first finger 21 can rotate in the xy plane. When the first telescopic component 22 and the second telescopic component 23 are synchronously telescopic (for example, the telescopic distance and the telescopic direction are the same), the first finger 21 rotates in the xz plane.

[0088] In a preferred implementation of the embodiment of the present invention, Figure 3 , Figure 4 , Figure 6 as well as Figure 7 As shown, the first telescopic assembly 22 and the second telescopic assembly 23 both include:

[0089] The moving body 2a moves relative to the palm 10;

[0090] A kit 2b is sleeved outside the moving body 2a; the kit 2b moves in a direction away from the first finger 21 and separates from the moving body 2a;

[0091] A connecting member 2c, both ends of which are movably connected to the first finger 21 and the kit 2b respectively;

[0092] The elastic member 2d is used for providing an elastic force for the kit 2b to move toward the first finger 21 .

[0093] Specifically, the first telescopic component 22 and the second telescopic component 23 enable the first finger 21 to have an anti-accidental touch function, which is achieved by separating and combining the moving body 2a and the set 2b. The moving body 2a moves relative to the first base, and the set 2b can be separated or combined with the moving body 2a. When the first finger 21 is subjected to external force or accidental touch, the set 2b is pushed to move, and the elastic member 2d is deformed; when the first finger 21 is not subjected to external force or is not accidentally touched, the elastic member 2d recovers the deformation, driving the set 2b to be sleeved outside the moving body 2a, and the moving body 2a and the set 2b are combined. The moving body 2a and the set 2b are combined, and when the moving body 2a moves relative to the palm 10, it will drive the set 2b to move, and also move the first finger 21.

[0094] In a preferred implementation of the embodiment of the present invention, Figure 3 , Figure 4 as well as Figure 6As shown, the first telescopic assembly 22 and the second telescopic assembly 23 both include:

[0095] A first driver 2e, provided on the palm portion 10;

[0096] A threaded rod 2f connected to the driving shaft of the first driver 2e;

[0097] The moving body 2a is threadedly connected to the threaded rod 2f; and the kit 2b slides relative to the first base.

[0098] Specifically, the first driver 2e is used to drive the threaded rod 2f to rotate, and the threaded rod 2f is threadedly connected to the moving body 2a. When the threaded rod 2f rotates, the moving body 2a moves relative to the palm 10. Further, a guide rail slider structure can be provided on the palm 10, and the slider is connected to the moving body 2a, so that the moving body 2a slides relative to the palm 10.

[0099] In a preferred implementation of the embodiment of the present invention, Figure 8 , Fig. 9 as well as Fig.10 As shown, the second finger portion 30 includes:

[0100] The second finger 31 is movably connected to the palm 10;

[0101] A second rotating component 32 is disposed on the palm 10 and movably connected to the second finger 31;

[0102] The third rotating component 33 is disposed on the palm 10 and movably connected to the second finger 31 .

[0103] Specifically, the second rotating component 32 can drive the second finger 31 to rotate approximately in the yz plane, and the third rotating component 33 can drive the second finger 31 to rotate in the xz plane.

[0104] In a preferred implementation of the embodiment of the present invention, Figure 8-Figure 10 As shown, the second rotating assembly 32 includes:

[0105] A second rotating frame 321 is rotatably disposed on the palm 10 and is rotatably connected to the second finger 31;

[0106] A second driver 322 is disposed on the palm portion 10 and is used to drive the second rotating frame 321 to rotate;

[0107] The third rotating assembly 33 comprises:

[0108] A third rotating frame 331, rotatably disposed on the palm portion 10;

[0109] A connecting rod 332, both ends of which are rotatably connected to the second finger 31 and the third rotating frame 331 respectively;

[0110] The third driver 333 is disposed on the palm portion 10 and is used to drive the third rotating frame 331 to rotate.

[0111] Specifically, the second rotating frame 321 rotates relative to the palm 10, the third rotating frame 331 rotates relative to the palm 10, and the rotation direction of the second rotating member relative to the palm 10 is different from the rotation direction of the third rotating frame 331 relative to the palm 10. The second finger 31 rotates relative to the second rotating frame 321. The connecting rod 332 rotates relative to the second finger 31 and also rotates relative to the third rotating frame 331. When the second finger 31, the second rotating frame 321 and the connecting rod 332 all rotate, the third rotating frame 331 can remain stationary, and the second finger 31 rotates approximately along the yz plane. When the second finger 31, the third rotating frame 331 and the connecting rod 332 all rotate, the second rotating frame 321 can remain stationary, and the second finger 31 rotates in the xz plane.

[0112] In a preferred implementation of the embodiment of the present invention, Figure 2 , Figure 4 , Figure 6 , Figure 8 as well as Fig.10 As shown, both the first finger 21 and the second finger 31 are bendable fingers.

[0113] Specifically, the first finger 21 and the second finger 31 may be curled, for example, the first finger 21 and the second finger 31 are curled in the xz plane.

[0114] In a preferred implementation of the embodiment of the present invention, Figure 2 , Figure 4-Figure 6 As shown, the first finger 21 includes:

[0115] first proximal phalanx 211;

[0116] A first middle finger joint 212, rotatably connected to the first proximal finger joint 211;

[0117] A first distal finger joint 213, rotatably connected to the first intermediate finger joint 212;

[0118] A first connecting rod 214, two ends of which are respectively connected to the first proximal knuckle 211 and the first distal knuckle 213;

[0119] A first driving assembly 215, disposed on the first proximal finger joint 211;

[0120] The first driving assembly 215 is used to drive the first middle knuckle 212 to rotate, and drives the first distal knuckle 213 to rotate.

[0121] Specifically, the finger can have three sections, namely, a proximal knuckle, an intermediate knuckle and a distal knuckle. The first proximal knuckle 211 is movably connected to the palm 10. Due to the existence of the first connecting rod 214, the first proximal knuckle 211, the first intermediate knuckle 212 and the first distal knuckle 213 can be curled and stretched together as a whole. The first driving component 215 drives the first intermediate knuckle 212 to rotate, thereby driving the first finger 21 to curl as a whole.

[0122] In a preferred implementation of the embodiment of the present invention, Figure 4 , Figure 5 as well as Figure 6 As shown, the first drive assembly 215 includes:

[0123] The fourth driver 2151 is disposed on the first proximal knuckle 211;

[0124] A first worm 2152, provided on the output shaft of the fourth driver 2151;

[0125] A first worm wheel 2153 meshing with the first worm 2152;

[0126] The first worm gear 2153 abuts against the first middle finger joint 212 .

[0127] Specifically, the fourth driver 2151 is used to drive the first worm 2152 to rotate, and drive the first worm wheel 2153 to rotate, thereby driving the first middle finger joint 212 to rotate. In addition to the worm tooth area, the first worm wheel 2153 forms a pushing area for pushing the first middle finger joint 212. After the first worm wheel 2153 rotates to the pushing area and contacts the first middle finger joint 212, the first middle finger joint 212 can be pushed through the pushing area. The first worm wheel 2153 also forms an avoidance area for avoiding the first middle finger joint 212. After the first middle finger joint 212 rotates to the avoidance area, the first middle finger joint 212 and the first worm wheel 2153 do not contact each other, and the rotation of the first middle finger joint 212 will not drive the first worm wheel 2153 to rotate. When the first finger 21 is subjected to external force or accidental contact, the first distal knuckle 213 and the first middle knuckle 212 are curled, and the first middle knuckle 212 rotates to the avoidance area, which will not drive the first worm gear 2153 to rotate, thereby preventing the first finger 21 from being damaged. A first elastic element is provided on the first distal knuckle 213, and the first elastic element provides elastic force to stretch the first middle knuckle 212 and the first distal knuckle 213. After the external force or accidental contact disappears, the first elastic element can stretch the first finger 21.

[0128] In a preferred implementation of the embodiment of the present invention, Figure 2 , Figure 8 as well as Fig.10 As shown, the second finger 31 includes:

[0129] second proximal phalanx 311;

[0130] A second intermediate finger joint 312, rotatably connected to the second proximal finger joint 311;

[0131] A second distal finger joint 313, rotatably connected to the second intermediate finger joint 312;

[0132] A second connecting rod 314, two ends of which are respectively connected to the second proximal knuckle 311 and the second distal knuckle 313;

[0133] A second driving assembly 315 , disposed on the second proximal finger joint 311 ;

[0134] The second driving assembly 315 is used to drive the second middle knuckle 312 to rotate, and drives the second distal knuckle 313 to rotate.

[0135] Specifically, the second proximal knuckle 311 is movably connected to the palm 10. Due to the existence of the second connecting rod 314, the second proximal knuckle 311, the second middle knuckle 312 and the second distal knuckle 313 can be curled and stretched together as a whole. The second driving assembly 315 drives the second middle knuckle 312 to rotate, thereby driving the second finger 31 to curl as a whole.

[0136] In a preferred implementation of the embodiment of the present invention, Fig.10 As shown, the second drive assembly 315 includes:

[0137] A fifth driver 3151 is provided on the second proximal knuckle 311;

[0138] A second worm 3152, disposed on the output shaft of the fifth driver 3151;

[0139] A second worm wheel 3153 meshing with the second worm 3152;

[0140] The second worm gear 3153 abuts against the second middle finger joint 312 .

[0141] Specifically, the fifth driver 3151 is used to drive the second worm 3152 to rotate, and drive the second worm wheel 3153 to rotate, so as to drive the second middle finger joint 312 to rotate. In addition to the worm tooth area, the second worm wheel 3153 forms a pushing area for pushing the second middle finger joint 312. After the second worm wheel 3153 rotates to the pushing area and contacts the second middle finger joint 312, the second middle finger joint 312 can be pushed through the pushing area. A avoiding area is also formed on the second worm wheel 3153 to avoid the second middle finger joint 312. After the second middle finger joint 312 rotates to the avoiding area, the second middle finger joint 312 and the second worm wheel 3153 do not contact each other, and the rotation of the second middle finger joint 312 will not drive the second worm wheel 3153 to rotate. When the second finger 31 is subjected to external force or accidental contact, the second distal finger joint 313 and the second middle finger joint 312 curl, and the second middle finger joint 312 rotates to the avoiding area, which will not drive the second worm wheel 3153 to rotate, thereby preventing the second finger 31 from being damaged. The second distal knuckle 313 is provided with a second elastic element, which provides elastic force for stretching the second middle knuckle 312 and the second distal knuckle 313. After the external force or accidental collision disappears, the second elastic element can stretch the second finger 31.

[0142] Based on the manipulator described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for the manipulator:

[0143] like Fig.11 As shown, the control method of the manipulator in the embodiment of the present invention comprises the following steps:

[0144] Step S100, determining the target task of the manipulator;

[0145] Step S200: determining the activity parameters of each finger according to the target task; the activity parameters include: rotation angle;

[0146] Step S300: controlling the finger activity according to the activity parameter of the finger to perform the target task.

[0147] Specifically, the target task of the manipulator is determined, and then the activity parameters of each finger are determined according to the target task, and then the finger activity is controlled according to the activity parameters of the finger to execute or complete the target task. The activity parameters of each finger can be different, so the activity of the controlled finger can also be different. The rotation of the first finger and the second finger is accurately controlled by the activity parameters of each finger, so that the manipulator has high flexibility and high control accuracy. In addition, since the fingers can rotate in multiple directions, various target tasks can be executed or completed.

[0148] The target task includes: at least one of a gesture and an action; the action includes: at least one of grabbing, pinching, patting, twisting, and tearing. The target task can be to make a gesture, or to form an action through continuous control.

[0149] The rotation angle of the first finger includes: the x-axis angle of the first finger and the z-axis angle of the first finger; the rotation angle of the second finger includes: the y-axis angle of the second finger and the z-axis angle of the second finger. In order to perform the target task, the corresponding finger needs to be rotated to the corresponding position (or angle). Some fingers can be controlled, or all fingers can be controlled; the angles that each finger can rotate can be the same or different. According to the target task, the rotation angle of each finger can be determined. The rotation angle of each finger can be converted into a coordinate axis angle. For example, the rotation angle of the first finger can be converted into an x-axis angle and a z-axis angle, and the rotation angle of the second finger can be converted into a y-axis angle and a z-axis angle.

[0150] Step S300 specifically includes:

[0151] Step S310, controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger;

[0152] Step S320: Control the second finger to rotate according to the y-axis angle and the z-axis angle of the second finger.

[0153] Specifically, after determining the rotation angle of the first finger, the rotation of the first finger can be controlled according to the rotation angle of the first finger. Specifically, the rotation of the first finger can be controlled according to the x-axis angle and the z-axis angle of the first finger. After determining the rotation angle of the second finger, the rotation of the second finger can be controlled according to the rotation angle of the second finger. Specifically, the rotation of the second finger can be controlled according to the y-axis angle and the z-axis angle of the second finger.

[0154] Step S310 specifically includes:

[0155] Step S311, determining the telescopic amount of the first telescopic component and the telescopic amount of the second telescopic component according to the x-axis angle and the z-axis angle of the first finger;

[0156] Step S312: controlling the extension and retraction of the first telescopic component according to the extension and retraction amount of the first telescopic component;

[0157] Step S313: Control the extension and retraction of the second telescopic component according to the extension amount of the second telescopic component.

[0158] Specifically, both the first telescopic component and the second telescopic component may affect the x-axis angle of the first finger, and both the first telescopic component and the second telescopic component may affect the z-axis angle of the first finger. Therefore, it is necessary to determine the telescopic amount of the first telescopic component according to the x-axis angle and the z-axis angle of the first finger, determine the telescopic amount of the second telescopic component according to the x-axis angle and the z-axis angle of the first finger, and then control the telescopic movement of the first telescopic component according to the telescopic amount of the first telescopic component, and control the telescopic movement of the second telescopic component according to the telescopic amount of the second telescopic component, so that the first finger rotates by the x-axis angle on the x-axis and by the z-axis angle on the z-axis.

[0159] Step S320 specifically includes:

[0160] Step S321, determining the rotation amount of the second rotating component according to the y-axis angle of the second finger, and controlling the second rotating component to rotate according to the rotation amount of the second rotating component;

[0161] Step S322: determine the rotation amount of the third rotating component according to the z-axis angle of the second finger, and control the rotation of the third rotating component according to the rotation amount of the third rotating component.

[0162] Specifically, the y-axis angle of the second finger is mainly determined by the second rotating assembly, and the z-axis angle of the second finger is mainly determined by the third rotating assembly. After the y-axis angle of the second finger is determined, the rotation amount of the second rotating assembly is determined according to the y-axis angle of the second finger, and the second rotating assembly is controlled to rotate. After the z-axis angle of the second finger is determined, the rotation amount of the third rotating assembly is determined according to the z-axis angle of the second finger, and the third rotating assembly is controlled to rotate.

[0163] Step S300 specifically includes:

[0164] Step S330: controlling the first finger to bend according to the bending angle of the first finger;

[0165] Step S340: Control the bending angle of the second finger to control the bending of the second finger.

[0166] Specifically, since both the first finger and the second finger can be bent, the first finger and the second finger can be controlled to bend. The bending angle of the first finger and the bending angle of the second finger are determined according to the target task, and then the first finger is controlled to bend according to the bending angle of the first finger; and the second finger is controlled to bend according to the bending angle of the second finger.

[0167] Step S330 specifically includes:

[0168] Step S331: determining a control parameter of the first driving component according to the bending angle of the first finger;

[0169] Step S332: Control the first driving assembly to drive the first middle knuckle to rotate according to the control parameters of the first driving assembly.

[0170] Specifically, the bending angle of the first finger is controlled by the first drive assembly. After the bending angle of the first finger is determined, the control parameter of the first drive assembly is determined according to the bending angle of the first finger, and the first drive assembly is controlled to drive the first finger to rotate. The control parameter of the first drive assembly can be the rotation angle of the first worm, and the bending angle of the first finger is also the rotation angle of the first worm wheel. The rotation angle of the first worm can be determined according to the rotation angle of the first worm wheel.

[0171] Step S340 specifically includes:

[0172] Step S341: determining a control parameter of the second driving component according to the bending angle of the second finger;

[0173] Step S342: Control the second driving assembly to drive the second middle knuckle to rotate according to the control parameters of the second driving assembly.

[0174] Specifically, the bending angle of the second finger is controlled by the second drive assembly. After the bending angle of the second finger is determined, the control parameter of the second drive assembly is determined according to the bending angle of the second finger, and the second drive assembly is controlled to drive the second finger to rotate. The control parameter of the second drive assembly can be the rotation angle of the second worm, and the bending angle of the second finger is also the rotation angle of the second worm wheel. The rotation angle of the second worm can be determined according to the rotation angle of the second worm wheel.

[0175] Based on the control method of the manipulator described in any of the above embodiments, the present invention also provides an embodiment of a control system of the manipulator:

[0176] The computer device of the present invention comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the control method described in any one of the above embodiments when executing the computer program.

[0177] Based on the control method of the manipulator described in any of the above embodiments, the present invention also provides an embodiment of a computer-readable storage medium:

[0178] The computer-readable storage medium of the present invention stores a computer program thereon, and when the computer program is executed by a processor, the steps of the control method described in any one of the above embodiments are implemented.

[0179] Based on the robot described in any of the above embodiments, the present invention also provides a preferred embodiment of the robot:

[0180] The robotic hand of an embodiment of the present invention comprises: a palm and at least two fingers, wherein the fingers are arranged on the palm; a first finger of the at least two fingers rotates within a plane where the palm is located and within a first vertical plane of the palm, and a second finger of the at least two fingers rotates within a second vertical plane of the palm and within a third vertical plane of the palm.

[0181] Based on the robot arm of any of the above embodiments, the present invention further provides a control method of the robot arm, the control method comprising the steps of:

[0182] Determine the target task of the robot hand;

[0183] According to the target task, determining the activity parameters of each finger; the activity parameters include: rotation angle;

[0184] The finger activity is controlled according to the activity parameter of the finger to perform the target task.

[0185] Based on the manipulator described in any of the above embodiments, the present invention also provides a preferred embodiment of a robot:

[0186] The robot of the embodiment of the present invention comprises: a palm and at least two fingers, wherein the fingers are arranged on the palm; a first finger of the at least two fingers rotates within a plane where the palm is located and within a first vertical plane of the palm, and a second finger of the at least two fingers rotates within a second vertical plane of the palm and within a third vertical plane of the palm.

[0187] Based on the robot of any of the above embodiments, the present invention further provides a robot control method, the control method comprising the steps of:

[0188] Determine the robot's target mission;

[0189] According to the target task, determining the activity parameters of each finger; the activity parameters include: rotation angle;

[0190] The finger activity is controlled according to the activity parameter of the finger to perform the target task.

[0191] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A control method for a manipulator, characterized in that: The manipulator comprises: a palm and at least two fingers, wherein the fingers are arranged on the palm; a first finger of the at least two fingers rotates within the plane where the palm is located and within a first vertical plane of the palm, and a second finger of the at least two fingers rotates within a second vertical plane of the palm and within a third vertical plane of the palm; the control method comprises the steps of: Determine the target task of the manipulator; According to the target task, determining the activity parameters of each finger; the activity parameters include: rotation angle; Controlling the finger movement according to the movement parameters of the finger to perform the target task; The rotation angle of the first finger includes: an x-axis angle of the first finger and a z-axis angle of the first finger; the rotation angle of the second finger includes: a y-axis angle of the second finger and a z-axis angle of the second finger; and controlling the finger activity according to the activity parameter of the finger to perform the target task includes: Controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger; Controlling the rotation of the second finger according to the y-axis angle and the z-axis angle of the second finger; The first finger portion comprises: A first finger, movably connected to the palm; A first telescopic component, disposed on the palm and movably connected to the first finger; A second telescopic component is disposed on the palm and movably connected to the first finger; According to the x-axis angle and the z-axis angle of the first finger, controlling the first finger to rotate comprises: Determining the telescopic amount of the first telescopic component and the telescopic amount of the second telescopic component according to the x-axis angle and the z-axis angle of the first finger; Controlling the extension and retraction of the first retractable component according to the extension and retraction amount of the first retractable component; Controlling the extension and retraction of the second telescopic component according to the extension and retraction amount of the second telescopic component; The first telescopic assembly and the second telescopic assembly both include: A moving body, which moves relative to the palm; A kit is mounted outside the movable body; the kit moves in a direction away from the first finger and separates from the movable body; A connecting piece, two ends of which are movably connected to the first finger and the kit respectively; an elastic member, the elastic member being used to provide an elastic force for the kit to move toward the first finger; A first driver, disposed on the palm portion; a threaded rod connected to the drive shaft of the first actuator; Wherein, the moving body is threadedly connected to the threaded rod; The second finger portion comprises: A second finger, movably connected to the palm; A second rotating component is disposed on the palm and movably connected to the second finger; A third rotating component is disposed on the palm and movably connected to the second finger; The controlling the second finger to rotate according to the y-axis angle and the z-axis angle of the second finger comprises: Determining the rotation amount of the second rotating component according to the y-axis angle of the second finger, and controlling the rotation of the second rotating component according to the rotation amount of the second rotating component; The rotation amount of the third rotating component is determined according to the z-axis angle of the second finger, and the rotation of the third rotating component is controlled according to the rotation amount of the third rotating component.

2. The control method of the robot according to claim 1, characterized in that: The first finger and the second finger are both bendable fingers; the activity parameters further include: a bending angle of the first finger and a bending angle of the second finger; and controlling the finger activity according to the activity parameters of the finger to perform the target task includes: Controlling the bending of the first finger according to the bending angle of the first finger; Control the bending angle of the second finger to control the bending of the second finger.

3. The control method of the robot according to claim 2, characterized in that: The first finger comprises: first proximal phalanx; a first intermediate knuckle, rotatably connected to the first proximal knuckle; a first distal knuckle, rotatably connected to the first intermediate knuckle; A first connecting rod, two ends of which are respectively connected to the first proximal finger joint and the first distal finger joint; a first drive assembly, disposed on the first proximal knuckle; Wherein, the first driving assembly is used to drive the first middle finger joint to rotate, and drive the first distal finger joint to rotate; The step of controlling the bending of the first finger according to the bending angle of the first finger includes: determining a control parameter of the first driving component according to the bending angle of the first finger; According to the control parameters of the first driving component, the first driving component is controlled to drive the first middle finger joint to rotate.

4. The control method of the robot according to claim 3, characterized in that: The second finger comprises: second proximal phalanx; a second intermediate knuckle, rotatably connected to the second proximal knuckle; a second distal knuckle, rotatably connected to the second intermediate knuckle; A second connecting rod, two ends of which are respectively connected to the second proximal knuckle and the second distal knuckle; a second drive assembly disposed on the second proximal knuckle; Wherein, the second driving assembly is used to drive the second middle finger joint to rotate, and drive the second distal finger joint to rotate; The controlling the bending angle of the second finger and controlling the bending of the second finger includes: determining a control parameter of the second driving component according to the bending angle of the second finger; According to the control parameters of the second driving component, the second driving component is controlled to drive the second middle finger joint to rotate.

5. The control method of the manipulator according to any one of claims 1 to 4, characterized in that: The target task includes: at least one of a gesture and an action; the action includes: at least one of grabbing, pinching, patting, twisting, and tearing.

6. A control system for a manipulator, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A robot control method, characterized in that: The robot comprises: a palm and at least two fingers, wherein the fingers are arranged on the palm; a first finger of the at least two fingers rotates within the plane where the palm is located and within a first vertical plane of the palm, and a second finger of the at least two fingers rotates within a second vertical plane of the palm and within a third vertical plane of the palm; the control method comprises the steps of: Determine the robot's target mission; According to the target task, determining the activity parameters of each finger; the activity parameters include: rotation angle; Controlling the finger movement according to the movement parameters of the finger to perform the target task; The rotation angle of the first finger includes: an x-axis angle of the first finger and a z-axis angle of the first finger; the rotation angle of the second finger includes: a y-axis angle of the second finger and a z-axis angle of the second finger; and controlling the finger activity according to the activity parameter of the finger to perform the target task includes: Controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger; Controlling the rotation of the second finger according to the y-axis angle and the z-axis angle of the second finger; The first finger portion comprises: A first finger, movably connected to the palm; A first telescopic component, disposed on the palm and movably connected to the first finger; A second telescopic component is disposed on the palm and movably connected to the first finger; According to the x-axis angle and the z-axis angle of the first finger, controlling the first finger to rotate comprises: Determining the telescopic amount of the first telescopic component and the telescopic amount of the second telescopic component according to the x-axis angle and the z-axis angle of the first finger; Controlling the extension and retraction of the first retractable component according to the extension and retraction amount of the first retractable component; Controlling the extension and retraction of the second telescopic component according to the extension and retraction amount of the second telescopic component; The first telescopic assembly and the second telescopic assembly both include: A moving body, which moves relative to the palm; A kit is mounted outside the movable body; the kit moves in a direction away from the first finger and separates from the movable body; A connecting piece, two ends of which are movably connected to the first finger and the kit respectively; an elastic member, the elastic member being used to provide an elastic force for the kit to move toward the first finger; A first driver, disposed on the palm portion; a threaded rod connected to the drive shaft of the first actuator; Wherein, the moving body is threadedly connected to the threaded rod; The second finger portion comprises: A second finger, movably connected to the palm; A second rotating component is disposed on the palm and movably connected to the second finger; A third rotating component is disposed on the palm and movably connected to the second finger; The controlling the second finger to rotate according to the y-axis angle and the z-axis angle of the second finger comprises: Determining the rotation amount of the second rotating component according to the y-axis angle of the second finger, and controlling the rotation of the second rotating component according to the rotation amount of the second rotating component; The rotation amount of the third rotating component is determined according to the z-axis angle of the second finger, and the rotation of the third rotating component is controlled according to the rotation amount of the third rotating component.

Images