Multi-cluster marking and positioning structure of dexterous hand of humanoid robot, system comprising multi-cluster marking and positioning structure and humanoid robot comprising multi-cluster marking and positioning structure

Abstract

The invention provides a multi-cluster mark positioning structure of a dexterous hand of a humanoid robot, a system comprising the multi-cluster mark positioning structure and the humanoid robot. The multi-cluster mark positioning structure comprises a palm and fingers and further comprises a plurality of sets of mark units, the mark units are arranged on the palm and / or the fingers of the dexterous hand in a scattered and non-overlapping mode, the mark units are mark clusters or face markers, each mark cluster comprises at least three mark points, the mark points in the single mark cluster are arranged in a non-collinear mode, and the mark points in the single mark cluster are arranged in a non-collinear mode. The single marking cluster or the single surface marker is used for determining the three-dimensional space position and the local directional vector of the core point of the single marking cluster or the single surface marker, and the multiple marking units are matched to determine the overall space posture of the dexterous hand. The multi-cluster marking and positioning structure realizes high-precision and uninterrupted continuous detection of the spatial position and posture of the dexterous hand, improves the real-time performance and stability of hand-eye servo control, realizes flexible replacement of marking units, and adapts to different hand layouts and operation scenes.

Description

Technical Field

[0001] This application relates to the field of dexterous hand technology, and more specifically, to a multi-cluster marker positioning structure for a humanoid robot dexterous hand, a hand-eye servo control system including the structure, and a humanoid robot. Background Technology

[0002] The core of the dexterity of humanoid robots lies in the accurate detection and real-time control of the hand's spatial position and posture. Existing technologies have developed solutions for robot hand positioning by setting markers in conjunction with a vision system, such as using a combination of two markers to achieve basic position recognition. However, such solutions suffer from problems such as a small number of markers and a simple layout. When the dexterity moves to a complex posture, the markers are easily obscured, making continuous tracking impossible. At the same time, existing marking solutions can only achieve basic position detection, with low accuracy in posture analysis. Furthermore, the control linkage between the vision system and the dexterity is poor, lacking efficient closed-loop control logic, which cannot meet the high-precision and high-real-time operation requirements of humanoid robot dexterity hands.

[0003] Furthermore, existing markers only use point markings or single-surface markings. Point markings require a fixed combination to achieve posture analysis, while surface markings suffer from large size and poor layout flexibility. The two cannot be flexibly replaced to adapt to different hand layouts and work scenarios. Moreover, existing vision systems are mostly single-set layouts, and the recognition accuracy is easily limited by the viewing angle. When multiple vision systems work together, there is a lack of effective data fusion mechanisms, resulting in weak anti-interference capabilities. At the same time, the markers do not have unique identification features, which can easily lead to visual misidentification, further reducing the positioning accuracy.

[0004] The existing hand-eye servo control scheme lacks the logic for switching marker clusters. When some markers fail or are occluded, the vision system cannot automatically switch the detection target, resulting in the interruption of hand posture tracking and the inability to achieve continuous motion control. Furthermore, the markers have a single type of light emission, which cannot adapt to different working environment lighting conditions. The filtering and acquisition parameters of the vision system are also not matched with the markers, further affecting the detection accuracy and real-time performance, making it difficult to meet the high-precision operation requirements of humanoid robot dexterity hands in complex scenarios. Summary of the Invention

[0005] This application addresses the shortcomings of existing technologies by providing a multi-cluster marker positioning structure for a dexterous hand, a hand-eye servo control system including the structure, and a humanoid robot. This enables high-precision, uninterrupted continuous detection of the dexterous hand's spatial position and posture, improves the real-time performance and stability of the hand-eye servo control, and allows for flexible replacement of marker units to adapt to different hand layouts and work scenarios.

[0006] To achieve the above objectives, the present invention provides a multi-cluster marker positioning structure for a humanoid robot dexterous hand, including a palm and fingers, and multiple sets of marker units. The marker units are dispersed and non-overlappingly arranged on the palm and / or fingers of the dexterous hand. The marker units are marker clusters or surface markers. Each set of marker clusters consists of at least 3 marker points. The marker points in a single set of marker clusters are arranged non-collinearly. Each marker cluster or surface marker can independently determine its own core point three-dimensional spatial position and local directional vector. Multiple sets of marker units can cooperate to determine the overall spatial posture of the dexterous hand.

[0007] Furthermore, the surface marker is a one-piece molded surface luminescent structure with a luminescent area larger than that of a single marker point. Under binocular stereo vision detection, the position of the core point and the surface spatial attitude vector can be directly resolved. The marker point is an active luminescent marker, and the surface marker is an active luminescent surface structure. Both can selectively emit visible light or infrared light, and the wavelength of the emitted light is within the wavelength range that the vision system can recognize and detect.

[0008] Furthermore, the marker points are fixedly embedded in the mounting holes of the dexterous hand's housing, and the surface markers are fixedly attached to or embedded in the surface of the dexterous hand's housing. The luminous surfaces of the marker points and the surface markers are flush with or slightly convex with the housing surface at the mounting position, and the luminous intensity of the marker points and the surface markers can be adjusted independently. The different marker units are spatially distributed on the palm, and the detection areas of any two marker units do not overlap. Moreover, the layout position satisfies that at least one set of marker units is in an unobstructed and recognizable state under any movement posture of the dexterous hand.

[0009] Furthermore, each group of the marked units has a unique identification feature. The unique identification feature of the marked cluster is the number of marked points, the spacing between them, or the difference in the emission frequency within a single cluster. The unique identification feature of the surface marked object is the difference in the emission area, the emission shape, or the emission frequency. This is used to avoid the visual system from misidentifying different marked units.

[0010] The present invention also provides a hand-eye servo control system for a humanoid robot's dexterous hand, including the aforementioned multi-cluster marker positioning structure, at least one stereo vision system, and a control module; the stereo vision system serves as the visual detection unit of the humanoid robot and is located on the robot's head, chest, shoulder, or the side of the robotic arm, with its field of view completely covering the entire range of motion of the dexterous hand; the control module is connected to the multi-cluster marker positioning structure and the stereo vision system respectively.

[0011] Furthermore, the stereo vision system includes an imaging component, a filtering component, and a real-time acquisition module. The light transmission wavelength of the filtering component is precisely matched with the emitted light wavelength of the marker points and surface markers to filter ambient light interference and improve the recognition accuracy of the marker units. The image acquisition frame rate of the real-time acquisition module is ≥30 frames / second, which meets the real-time requirements of dexterous hand motion control.

[0012] Furthermore, when there are multiple stereo vision systems, they are arranged in a distributed, multi-angle layout. These systems can simultaneously detect and identify marker units from different spatial perspectives and transmit the detection data from each perspective to the control module. The control module then performs multi-view data fusion calculations to improve the accuracy and stability of dexterous hand positioning and posture detection. The multiple stereo vision systems can also achieve redundancy backup. When one stereo vision system fails, the control module will automatically switch to the remaining normal stereo vision systems for detection, ensuring the continuous operation of the hand-eye servo control system.

[0013] Furthermore, the stereo vision system can continuously detect and identify the marker units in real time, and transmit the three-dimensional spatial position, local directional vector and identification feature information of the core points of each marker unit to the control module in real time; the control module analyzes the real-time overall spatial position and posture parameters of the dexterous hand based on this information.

[0014] Furthermore, the control module incorporates a marker unit switching and recognition logic. When the control module detects that the recognition rate of the currently recognized marker unit is less than 80% or is occluded, it automatically switches the stereo vision system to detect and recognize marker units that are unobstructed and have a high recognition rate in the current posture of the dexterous hand, thereby achieving uninterrupted and continuous tracking of the dexterous hand's posture and spatial position. The control module also has a hand-eye servo closed-loop control function. The control module compares the real-time position and posture parameters of the dexterous hand obtained from the analysis with preset motion trajectory parameters, and sends real-time correction motion control commands to the drive mechanism of the dexterous hand based on the comparison deviation, thereby achieving high-precision hand-eye servo closed-loop control of the dexterous hand.

[0015] The present invention also provides a humanoid robot, including the above-mentioned multi-cluster marker positioning structure or the above-mentioned hand-eye servo control system, wherein the hand-eye servo control system is signal-connected to the robot's main control system to realize the coordinated control of the robot's overall movement and dexterous hand operation.

[0016] Beneficial effects include: This invention achieves diverse adaptation of marking forms by setting multiple sets of flexibly replaceable marking units (marker clusters / surface markers). The marker clusters achieve accurate analysis of the core point and direction vector through at least three non-collinearly arranged marking points, while the surface markers can directly achieve posture detection through the surface structure. Both can be flexibly selected according to the hand layout, improving the adaptability of the structure. At the same time, the multiple sets of marking units are arranged in a spatially distributed, non-overlapping layout, ensuring that at least one set of marking units can be identified under any posture of the dexterous hand, thus structurally avoiding detection interruption.

[0017] Both point and surface markers can selectively emit visible or infrared light, and the light intensity is independently adjustable, making them adaptable to different ambient light operating scenarios. Combined with the dedicated filter components of the stereo vision system, they effectively filter ambient light interference and improve recognition accuracy. At the same time, each marker unit has a unique identification feature, which fundamentally avoids the problem of misidentification by the vision system and further improves the accuracy of detection.

[0018] The hand-eye servo control system is equipped with one or more stereo vision systems. Multiple systems adopt a distributed multi-angle layout and realize data fusion calculation, which greatly improves the positioning and posture analysis accuracy. At the same time, multiple systems have redundancy backup function to ensure the continuity of visual inspection. The real-time acquisition module of the stereo vision system has a frame rate of ≥30 frames / second, which meets the real-time detection requirements of dexterous hand movement at high speed.

[0019] The control module has a built-in automatic switching logic for the marker unit, which can switch the detection target in real time according to the recognition rate and occlusion, so as to achieve uninterrupted continuous tracking of the dexterous hand's posture and position. At the same time, the control module has a high-precision hand-eye servo closed-loop control function. By comparing the actual parameters with the preset parameters in real time and sending correction commands, it can achieve precise motion control of the dexterous hand and greatly improve the work accuracy.

[0020] The entire positioning structure and control system has strong interoperability among its components. The layout of the marking unit, the parameters of the vision system, and the logic of the control module are integrated into a single design. The entire process from detection, transmission, analysis to control achieves high precision and high real-time performance, which can meet the operational needs of humanoid robot dexterity hands in complex scenarios. At the same time, the structure is simple and easy to install, and it has good practicality and scalability. Attached Figure Description

[0021] Figure 1 This is a structural diagram of the dexterous hand provided in the embodiments of this application; Figure 2 This is a structural diagram of the dexterous hand provided in the embodiments of this application; Figure 3 This is a structural diagram of the dexterous hand provided in the embodiments of this application; Figure 4This is a structural diagram of the dexterous hand provided in the embodiments of this application; Figure 5 This is a schematic diagram of the hand-eye servo control system provided in an embodiment of this application. Detailed Implementation

[0022] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0023] It should be noted that, in the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0024] In the embodiments of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more, and "at least one" and "one or more" refer to one, two, or more than two. The singular expressions "a," "an," "the," "the," "this," and "this" are intended to also include expressions such as "one or more," unless the context explicitly indicates otherwise.

[0025] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0026] In the description of the embodiments of this application, the terms "upper," "lower," "inner," "outer," "vertical," and "horizontal," etc., indicate orientations or positional relationships relative to the indicated placement of components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and not to indicate or imply a specific orientation that the device or component must have, or its construction and operation in a specific orientation. They can change accordingly depending on the orientation of the components in the accompanying drawings, and therefore should not be construed as limiting this application. Furthermore, "vertical" in this application is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0027] In the description of this application, terms such as "connection" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Those skilled in the art will understand the specific meaning of these terms in this application according to the specific circumstances.

[0028] It should be noted that, unless otherwise specified, the features in the following embodiments and implementation methods can be combined with each other.

[0029] This embodiment provides a multi-cluster marker positioning structure and hand-eye servo control system for a humanoid robot dexterous hand, as shown in Figures 1-5. The dexterous hand includes a palm 1 and fingers 2. Marker units 3 are dispersed and non-overlapping at the palm 1 and fingers 2. The marker unit 3 is a marker cluster, which includes three non-collinearly arranged infrared luminescent marker points 311. The three-dimensional spatial position and local directional vector of the core point of the cluster can be determined by a three-point positioning algorithm. The cooperation of multiple marker units 3 can accurately analyze the overall spatial posture of the dexterous hand.

[0030] In an embodiment not shown, the three markers can be arranged in an isosceles triangle with a spacing of 1 cm.

[0031] It should be noted that the marking unit 1 can be placed at any location on the palm and / or fingers of the dexterous hand, such as the back of the hand, the web of the thumb, the base of the fingers, or the back of the fingers. Figure 4 As shown, multiple marker points 311 of a marker cluster can be set on the same finger or on different fingers.

[0032] In some embodiments, the marking unit 3 may also include a surface marker (not shown in the figure), which is an integrated circular surface infrared emitting structure with an emitting area of ​​2 cm². The three-dimensional spatial position of the core point and the surface spatial attitude vector can be directly resolved under binocular stereo vision detection.

[0033] The markers can be active-emitting infrared / visible dual-mode LEDs, and the surface markers can be active-emitting infrared / visible dual-mode surface light-emitting panels. Both can switch their emission type via a control module to adapt to different working environments, such as bright or dim light. The emitted light wavelengths are 850nm (infrared) and 550nm (visible light), both of which are wavelengths that can be recognized by the stereo vision system. The markers are fixedly embedded in the mounting holes of the dexterous hand's housing, and the surface markers are attached to the surface of the housing in the tiger's mouth area. The light-emitting surfaces of the markers and the surface markers are flush with the housing surface, and the luminous intensity of each marker and surface marker can be independently adjusted via the control module, with an adjustment range of 10-100 cd / m².

[0034] Multiple sets of marker units are spatially distributed on the palm, with no overlap in the detection areas of any two marker units. The layout ensures that at least one set of marker units is in an unobstructed and identifiable state during any movement posture of the dexterous hand, such as rotation, flexion, and extension. Each set of marker units has unique identification features. The identification features of the two sets of back-of-the-hand marker clusters are that the spacing between the marker points is different (1cm and 1.5cm, respectively), the identification features of the finger root marker clusters are that the emission frequency is different (5Hz), and the identification features of the surface markers are that the emission shape is different (circular). This effectively avoids misidentification of different marker units by the vision system.

[0035] The hand-eye servo control system of this embodiment includes the aforementioned multi-cluster marker positioning structure, two sets of stereo vision systems, and a control module. The two sets of stereo vision systems are respectively set on the head and chest of the humanoid robot, in a distributed multi-angle layout, and the field of view of each system completely covers the entire range of motion of the dexterous hand. The control module can use an ARM Cortex-A9 processor and is connected to the multi-cluster marker positioning structure and the two sets of stereo vision systems via CAN bus signals.

[0036] The stereo vision system is any one of binocular stereo vision, multi-view stereo vision, binocular linear laser stereo vision, multi-view linear laser stereo vision, area array structured light, and TOF.

[0037] The stereo vision system includes an imaging component, a filtering component, and a real-time acquisition module. The filtering component is a narrow-band filter with a transmission wavelength that precisely matches the emission wavelength (850nm / 550nm) of the marked points and surface markers, effectively filtering ambient light interference and improving the recognition accuracy of the marked units. The real-time acquisition module has an image acquisition frame rate of 60 frames / second, which is much higher than the basic requirement of 30 frames / second, meeting the real-time detection needs of dexterous hands moving at high speeds.

[0038] Two stereo vision systems can simultaneously detect and identify marker units from two different spatial perspectives: head and chest. The detection data (core point position, direction vector, and marker features) from each perspective are transmitted to the control module in real time. The control module performs multi-view data fusion calculation using a weighted average algorithm to improve the accuracy and stability of dexterous hand positioning and posture detection. At the same time, the two stereo vision systems have a redundancy backup function. When one stereo vision system fails, the control module can automatically switch to the other normal stereo vision system within 10ms to perform detection, ensuring the continuous operation of the hand-eye servo control system.

[0039] The stereo vision system continuously detects and identifies the marker units in real time, transmitting the detection data to the control module at a frequency of 60 frames per second. The control module, based on a preset parsing algorithm and the detection data of multiple marker units, parses the real-time overall spatial position and posture parameters of the dexterous hand. The control module has built-in marker unit switching and recognition logic. When the control module parses the recognition rate of the currently identified marker unit to be less than 80% or is occluded, it will automatically control the stereo vision system to switch to detecting and recognizing the marker units that are unobstructed and have a high recognition rate in the current posture of the dexterous hand, thereby achieving uninterrupted continuous tracking of the dexterous hand's posture and spatial position.

[0040] The control module has a hand-eye servo closed-loop control function. The control module compares the real-time position and posture parameters of the dexterous hand obtained by analysis with the preset motion trajectory parameters in real time. When the deviation exceeds 0.1mm, it immediately sends a real-time correction motion control command to the drive mechanism of the dexterous hand. The drive mechanism adjusts the motion state of the dexterous hand according to the command, so as to realize high-precision hand-eye servo closed-loop control of the dexterous hand. The positioning accuracy can reach ±0.05mm and the posture analysis accuracy can reach ±0.1°.

[0041] This embodiment also provides a humanoid robot, including the aforementioned multi-cluster marker positioning structure and hand-eye servo control system. The hand-eye servo control system is connected to the main control system of the humanoid robot via an Ethernet signal. The main control system sends operation instructions to the hand-eye servo control system according to the overall motion plan of the robot. The hand-eye servo control system realizes precise motion control of the dexterous hand according to the instructions, and at the same time feeds back the operation status of the dexterous hand to the main control system in real time, so as to realize the coordinated control of the overall motion of the robot and the operation of the dexterous hand.

[0042] The technical solutions provided by the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, based on the ideas of the present invention, modifications can be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the ideas and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-cluster marker positioning structure for a humanoid robot dexterous hand, comprising a palm and fingers, characterized in that, It also includes multiple sets of marking units, which are dispersed and non-overlapping on the palm and / or fingers of the dexterous hand. The marking units are marking clusters or surface markers. Each set of marking clusters includes at least 3 marking points. The marking points in a single set of marking clusters are arranged non-collinearly. A single marking cluster or surface marker is used to determine its own core point three-dimensional spatial position and local directional vector. Multiple sets of marking units work together to determine the overall spatial posture of the dexterous hand.

2. The multi-cluster marker positioning structure according to claim 1, characterized in that, The surface marker is a one-piece molded surface luminescent structure, and the marker points in the marker cluster are active luminescent markers. The luminescent area of ​​the surface marker is larger than the luminescent area of ​​a single marker point, and the core point position and surface spatial attitude vector can be directly resolved under stereo vision detection.

3. The multi-cluster marker positioning structure according to claim 2, characterized in that, Both the surface markers and the marker points in the marker cluster can selectively emit visible light or infrared light, and the wavelength of the emitted light is within the wavelength range that the visual system can recognize and detect.

4. The multi-cluster marker positioning structure according to claim 1, characterized in that, The marker points in the marker cluster are fixedly embedded in the mounting holes of the dexterous hand's shell, and the surface markers are fixedly attached to or embedded in the surface of the dexterous hand's shell. The luminous surfaces of the marker points and the surface markers are flush with or slightly convex with the shell surface at the mounting position, and the luminous intensity of the marker points and the surface markers can be adjusted independently. The different marker units are spatially distributed on the palm, and the detection areas of any two marker units do not overlap. The layout position satisfies that at least one set of marker units is in an unobstructed and recognizable state under any movement posture of the dexterous hand.

5. The multi-cluster marker positioning structure according to claim 1, characterized in that, Each group of the marked units has a unique identification feature. The unique identification feature of the marked cluster is the number of marked points, the spacing between them, or the difference in the emission frequency. The unique identification feature of the surface marked object is the difference in the emission area, the emission shape, or the emission frequency. This is used to avoid the stereo vision system from misidentifying different marked units.

6. A hand-eye servo control system for a humanoid robot's dexterous hand, characterized in that, It includes a multi-cluster marker positioning structure as described in any one of claims 1-5, at least one stereo vision system, and a control module; the stereo vision system serves as the visual detection unit of the humanoid robot and is located on the side of the robot's head, chest, shoulder, or robotic arm, with its field of view completely covering the entire range of motion of the dexterous hand; the control module is connected to the multi-cluster marker positioning structure and the stereo vision system respectively.

7. The hand-eye servo control system according to claim 6, characterized in that, The stereo vision system is any one of binocular stereo vision, multi-view stereo vision, binocular linear laser stereo vision, multi-view linear laser stereo vision, area array structured light, and TOF.

8. The hand-eye servo control system according to claim 6, characterized in that, The stereo vision system includes an imaging component, a filtering component, and a real-time acquisition module. The light transmission wavelength of the filtering component is precisely matched with the emission wavelength of the marker point to filter ambient light interference and improve the accuracy of marker cluster recognition. The image acquisition frame rate of the real-time acquisition module is ≥30 frames / second, which meets the real-time requirements of dexterous hand motion control.

9. The hand-eye servo control system according to claim 6, characterized in that, When there are multiple stereo vision systems, they are arranged in a distributed, multi-angle layout. The multiple systems can simultaneously detect and identify marker clusters from different spatial perspectives, and transmit the detection data from each perspective to the control module. The control module performs multi-view data fusion calculation to improve the accuracy and stability of dexterous hand positioning and posture detection.

10. The hand-eye servo control system according to claim 6, characterized in that, The stereo vision system can continuously detect and identify marker clusters in real time, and transmit the three-dimensional spatial position, local directional vector and identification feature information of the core point of each detected marker cluster to the control module in real time; the control module analyzes the real-time overall spatial position and posture parameters of the dexterous hand based on the information.

11. The hand-eye servo control system according to claim 10, characterized in that, The control module has a built-in tag cluster switching and recognition logic. When the control module resolves that the recognition rate of the currently recognized tag cluster is less than 80% or is occluded, it will automatically control the stereo vision system to switch to detecting and recognizing tag clusters that are unobstructed and have a high recognition rate under the current posture of the dexterous hand, so as to realize uninterrupted continuous tracking of the dexterous hand's posture and spatial position.

12. The hand-eye servo control system according to claim 11, characterized in that, The control module also has a hand-eye servo closed-loop control function. The control module compares the real-time position and posture parameters of the dexterous hand obtained by analysis with the preset motion trajectory parameters, and sends real-time correction motion control commands to the drive mechanism of the dexterous hand according to the comparison deviation, so as to realize high-precision hand-eye servo closed-loop control of the dexterous hand.

13. The hand-eye servo control system according to claim 6, characterized in that, Multiple stereo vision systems can also achieve redundancy backup. When one stereo vision system fails, the control module will automatically switch to the other normal stereo vision systems for detection, ensuring the continuous operation of the hand-eye servo control system.

14. A humanoid robot, characterized in that, Includes the multi-cluster marker positioning structure as described in any one of claims 1-5, or the hand-eye servo control system as described in any one of claims 6-13, wherein the hand-eye servo control system is signal-connected to the robot's main control system to achieve coordinated control of the robot's overall motion and dexterous hand operation.

Images