A smart sensor-based dexterous hand joint clearance identification method

Abstract

The application discloses a kind of based on smart sensor's dexterous hand joint gap identification method, it is related to mechanical clearance measurement technical field, including, obtain driving side encoder angle, joint output angle and angle code, according to transmission structure determines the steering corresponding relationship of driving side and joint output side, establishes input-output relative angle record and determines forward and reverse actual detection angular displacement;According to stable transmission state conversion process establishes forward contact relative angular position interval and reverse contact relative angular position interval;In the same distinguishable relative angular position, two historical detections are implemented, according to the change of two angle codes and the interval relationship of two intervals, update interval or redetermine actual detection angular displacement;According to two intervals, determine joint gap range and carry out bidirectional verification, according to the verification result, output joint gap range, update interval re-detect or redetermine forward and reverse actual detection angular displacement.

Description

Technical Field

[0001] This invention relates to the field of mechanical clearance measurement technology, and in particular to a method for identifying the joint clearance of a dexterous hand based on a smart sensor. Background Technology

[0002] With the development of bionic robots, service robots, and precision manipulation equipment, dexterous hands have gradually become important actuators for grasping, pinching, twisting, and fine manipulation. Dexterous hands are typically composed of multiple small joints. Inside the joints, motors are generally used in conjunction with gears, planetary reducers, harmonic reducers, or other micro-transmission mechanisms to amplify torque and transmit angular displacement. Joint clearance is an important mechanical parameter for evaluating transmission accuracy, repeatability, and assembly quality. Especially in high-precision, low-backlash joint modules, even small gaps can directly affect the consistency of angular position during forward and reverse movements. Existing technologies typically acquire angular position information of the joint's input and output ends through encoders, angle sensors, or dedicated measuring equipment. Combined with forward and reverse movements, repeated reversals, loading and unloading, or hysteresis characteristic tests, the relative angular displacement between the input and output ends is analyzed to obtain characterization results such as backlash, loss of momentum, or equivalent clearance. These methods have clearly defined measurement objects and are easy to combine with joint assembly inspection and performance testing, providing quantitative basis for the design verification, manufacturing assembly, transmission accuracy evaluation, and long-term performance monitoring of dexterous hand joints.

[0003] In existing technologies, conventional reversing identification usually determines the contact position based on the output change during a single entry or exit from contact. Differences in motion history caused by static friction, elastic recovery, and slight preload can easily be mixed into the mechanical clearance boundary. The forward and reverse contact boundaries are mostly determined independently by their respective scans, lacking historical consistency judgment and interval linkage correction under the same relative angular position, which makes it difficult to stably converge the verifiable range of small joint clearances. Summary of the Invention

[0004] In view of the problems existing in the prior art, the present invention is proposed.

[0005] Therefore, this invention provides a method for identifying the joint gap of a dexterous hand based on intelligent sensors to solve the problems of the mechanical contact boundary being difficult to determine stably due to the influence of motion history and the lack of linkage verification of the forward and reverse contact boundaries.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] This invention provides a method for identifying the joint gaps in a dexterous hand based on intelligent sensors, comprising:

[0008] The system acquires the encoder angle on the drive side and the joint output angle and corresponding angle code output by the intelligent angle sensor. Based on the transmission structure of the dexterous hand joint to be identified, the system determines the steering correspondence between the drive side and the joint output side. Based on the reduction ratio and steering correspondence, the system determines the corresponding output side angle on the drive side. The system establishes a record of the relative angles of the input and output. Based on the changes in the angle code along the corresponding joint output direction under the forward and reverse stable transmission states, the system determines the actual detected angular displacement in the forward and reverse directions.

[0009] According to the actual detected angular displacement, the movement moves from the stable transmission state to the opposite direction. Based on the input and output relative angle records during the transition from the current stable transmission state to the opposite stable transmission state, the positive contact relative angular position interval and the reverse contact relative angular position interval are established.

[0010] Select relative angle positions in the forward contact relative angle position range and the reverse contact relative angle position range. Reach the same resolvable relative angle position from the free clearance side and the stable transmission state side respectively. When processing the forward contact relative angle position range, detect in the forward direction according to the actual detected angular displacement. When processing the reverse contact relative angle position range, detect in the reverse direction according to the actual detected angular displacement. Update the range according to the two angle code changes of the intelligent angle sensor. Determine the next relative angle position or redetermine the actual detected angular displacement in the reverse direction based on whether the two ranges are completely separated, connected or coincident, and the sequential relationship of the stable transmission state side.

[0011] The joint gap range is determined based on the relative angular position range of the forward contact and the relative angular position range of the reverse contact, and verified by the forward and reverse stable transmission states in opposite directions. If they are consistent in both directions, the joint gap range is output. If they are inconsistent in one direction, the range is updated and the detection is repeated. If they are inconsistent in both directions, the actual forward and reverse detected angular displacements are re-determined.

[0012] As a preferred embodiment of the dexterous hand joint gap identification method based on intelligent sensors described in this invention, the specific steps for determining the actual detected angular displacement in the forward and reverse directions based on the angular code changes along the corresponding joint output direction under the forward and reverse stable transmission states are as follows:

[0013] When the angle code continuously enters two adjacent angle codes along the drive side forward direction in the corresponding joint output direction under the steering correspondence, and there is no angle code change along the opposite joint output direction between the two angle code changes, the forward stable transmission state is confirmed, and the actual forward detected angle displacement is determined according to the absolute change of the drive side encoder angular displacement and the reduction transmission ratio between the two angle code changes.

[0014] When the angle code continuously enters two adjacent angle codes in the opposite direction of the joint output direction under the steering correspondence along the drive side, and there is no angle code change along the opposite joint output direction between the two angle code changes, the reverse stable transmission state is confirmed, and the actual reverse detected angle displacement is determined according to the absolute change of the angular displacement of the drive side encoder and the reduction transmission ratio between the two angle code changes.

[0015] As a preferred embodiment of the dexterous hand joint gap identification method based on intelligent sensors described in this invention, the specific steps of moving from a stable transmission state to the opposite direction according to the corresponding actual detected angular displacement, and recording the relative angle of input and output during the transition from the current stable transmission state to the opposite stable transmission state, are as follows:

[0016] The system performs a reverse scan based on the actual detected angular displacement from the forward stable transmission state, recording the stable transmission side position and the free clearance side position during the process of exiting the forward stable transmission state to the free clearance, as well as the free clearance side position and the stable transmission side position during the process of entering from the free clearance reverse transmission surface.

[0017] When the angle code remains unchanged and a reverse same-direction output response occurs directly within the first minimum executable angular displacement of the drive side after the reverse motion starts from the forward stable transmission state, the relative angle positions of the input and output at the start of the reverse motion are simultaneously recorded as the stable transmission side position during the exit process of the forward transmission surface and the free clearance side position during the entry process of the reverse transmission surface. The relative angle positions of the input and output at the first occurrence of the reverse same-direction output response are simultaneously recorded as the free clearance side position during the exit process of the forward transmission surface and the stable transmission side position during the entry process of the reverse transmission surface.

[0018] Then, starting from the reverse stable transmission state, scan in the forward direction according to the actual detected angular displacement, and record the stable transmission side position and free clearance side position during the process of exiting the reverse stable transmission state to the free clearance, as well as the free clearance side position and stable transmission side position during the process of entering the forward stable transmission state from the free clearance.

[0019] When no angle code remains unchanged within the first minimum executable angular displacement of the drive side after starting forward motion from the reverse stable transmission state and a forward same-direction output response occurs directly, the relative angle positions of the input and output at the start of forward motion are simultaneously recorded as the stable transmission side position during the exit process from the reverse stable transmission state and the free clearance side position during the entry process from the forward stable transmission state. The relative angle positions of the input and output when the first forward same-direction output response occurs are simultaneously recorded as the free clearance side position during the exit process from the reverse stable transmission state and the stable transmission side position during the entry process from the forward stable transmission state.

[0020] As a preferred embodiment of the dexterous hand joint gap identification method based on intelligent sensors described in this invention, the specific steps for establishing the positive contact relative angle position interval and the reverse contact relative angle position interval are as follows:

[0021] The free gap side position and stable transmission side position obtained from entering the positive stable transmission state from the free gap and exiting the positive stable transmission state back to the free gap are arranged according to the relative angle position of input and output. The positive contact relative angle position range is formed with the minimum position and the maximum position. The smaller position is used as the free gap side endpoint and the larger position is used as the stable transmission state side endpoint.

[0022] The free gap side position and stable transmission side position obtained by entering the reverse stable transmission state from the free gap and exiting the reverse stable transmission state to the free gap are arranged according to the relative angle position of input and output. The reverse contact relative angle position interval is formed by the minimum position and the maximum position. The smaller position is used as the side endpoint of the stable transmission state and the larger position is used as the side endpoint of the free gap.

[0023] As a preferred embodiment of the dexterous hand joint gap identification method based on intelligent sensors described in this invention, the specific steps for selecting the relative angle position in the positive contact relative angle position range and the negative contact relative angle position range are as follows:

[0024] Between the free clearance side endpoint and the stable transmission state side endpoint, among the input and output relative angle positions that can be actually reached from the drive side and have not yet completed the same resolvable relative angle position from the free clearance side and the stable transmission state side, select the position closest to the middle position of the two endpoints. When there are equidistant positions on both sides of the middle position, select the position closer to the free clearance side first.

[0025] As a preferred embodiment of the dexterous hand joint gap identification method based on intelligent sensors described in this invention, the steps of reaching the same resolvable relative angular position from both the free gap side and the stable transmission state side, processing the positive contact relative angular position interval according to the positive actual detection angular displacement, and processing the reverse contact relative angular position interval according to the reverse actual detection angular displacement, are as follows:

[0026] When processing the forward contact relative angle position range, the movement starts from the free gap side and selects the relative angle position. The actual input / output relative angle position reached is taken as the first detection position, and the first detection is completed in the forward direction according to the actual detection angle displacement. When processing the reverse contact relative angle position range, the movement starts from the free gap side and selects the relative angle position. The actual input / output relative angle position reached is taken as the first detection position, and the first detection is completed in the reverse direction according to the actual detection angle displacement. Then, the movement starts from the stable transmission state side and moves towards the first detection position. When the first detection position can be reached, the first detection position is taken as the second detection position. When the first detection position cannot be reached due to the minimum executable angle displacement limitation on the drive side, the nearest position with no other executable input / output relative angle position between it and the first detection position is taken as the second detection position. At the second detection position, the same actual detection angle displacement is performed in the same direction as the first detection, and the angle code change during the two detections is recorded respectively. When the second detection position is different from the first detection position, the first detection position and the second detection position are recorded as two actual positions of the same resolvable relative angle position. After that, the two positions are no longer selected separately when selecting the relative angle position.

[0027] As a preferred embodiment of the dexterous hand joint gap identification method based on intelligent sensors described in this invention, the specific steps of updating the interval according to two angle code changes by the intelligent angle sensor are as follows:

[0028] If there is no output response after two probes, the free gap side endpoint is replaced with the position of the first probe.

[0029] When both detections produce output responses in the same direction, the endpoint of the stable transmission state is replaced with the position of the first detection.

[0030] When there is no output response once and an output response in the same direction once, keep the two endpoints unchanged and record the first and second detection positions with the same resolvable relative angle as the positions where double historical detection has been completed.

[0031] When a directional conflict occurs during any detection, the forward contact relative angle position interval and the reverse contact relative angle position interval are not updated. The actual detection angular displacement of the direction in which the directional conflict occurs is re-determined, and the scan in the direction in which the directional conflict occurs is re-executed. The forward contact relative angle position interval and the reverse contact relative angle position interval are re-established together with the updated scan position record and the valid scan position record retained in the other direction. After the two contact relative angle position intervals are re-established, the position records of the two historical detections that were completed before the re-establishment are cleared.

[0032] As a preferred embodiment of the dexterous hand joint gap identification method based on intelligent sensors described in this invention, the specific steps of defining the next relative angular position or re-determining the actual detected angular displacement in which the inversion direction occurs based on the complete separation, connection, or overlap of two intervals and the inverted sequential relationship of the stable transmission state sides are as follows:

[0033] When the two intervals are completely separated, check whether there are still executable relative angle positions that have not yet completed double historical detection within the forward contact relative angle position interval and the reverse contact relative angle position interval. If there are still executable relative angle positions within at least one contact relative angle position interval, continue processing the contact relative angle position intervals that still have executable relative angle positions. If there are no executable relative angle positions that have not yet completed double historical detection within either of the two contact relative angle position intervals, stop further contraction and enter the joint space range determination.

[0034] When two intervals are connected or overlapped, and there are executable relative angle positions within the connected or overlapping range that have not yet completed dual historical detection, the next relative angle position is limited to the connected or overlapping range. After one interval is updated, the connected or overlapping range is redefined and a relative angle position is selected for the other interval.

[0035] When two intervals are connected or overlapped, and there are no executable relative angle positions within the connected or overlapping range that have not yet completed dual historical detection, the two contact relative angle position intervals stop contracting towards each other and enter the joint space range for determination.

[0036] Along the direction of increasing relative angular position between input and output, the stable transmission state endpoint of the reverse contact relative angular position interval should be located before the stable transmission state endpoint of the forward contact relative angular position interval. When the stable transmission state endpoint of the reverse contact relative angular position interval is located after the stable transmission state endpoint of the forward contact relative angular position interval, it is determined that the order of the stable transmission state endpoints is reversed. The most recent interval update is cancelled, the actual detection angular displacement in the reversed direction is re-determined, the scan in the reversed direction is re-executed, and the updated scan position record and the retained valid scan position record in the other direction are used to re-establish two contact relative angular position intervals. After re-establishing two contact relative angular position intervals, the position records of the double historical detection completed before the re-establishment are cleared.

[0037] As a preferred embodiment of the dexterous hand joint gap identification method based on intelligent sensors described in this invention, the specific steps for determining the joint gap range based on the forward contact relative angle position range and the reverse contact relative angle position range are as follows:

[0038] When the two contact relative angular position intervals are completely separated, the angle difference between the free clearance side endpoint of the positive contact relative angular position interval and the free clearance side endpoint of the negative contact relative angular position interval is taken as the smaller boundary of the joint clearance range, and the angle difference between the stable transmission state side endpoint of the positive contact relative angular position interval and the stable transmission state side endpoint of the negative contact relative angular position interval is taken as the larger boundary of the joint clearance range.

[0039] When two contact relative angle position intervals are connected or coincident, the smaller boundary is determined to be zero, while the larger boundary is still determined by the angle difference between the stable transmission state side endpoint of the positive contact relative angle position interval and the stable transmission state side endpoint of the negative contact relative angle position interval.

[0040] As a preferred embodiment of the dexterous hand joint gap identification method based on intelligent sensors described in this invention, the following steps are taken: Verification is performed by moving from the forward and reverse stable transmission states in opposite directions. If the two directions are consistent, the joint gap range is output; if they are inconsistent in one direction, the range is updated and re-detected; if they are inconsistent in both directions, the actual forward and reverse detected angular displacements are re-determined. The specific steps are as follows:

[0041] Re-execute the reverse scan and forward scan to form the forward verification contact relative angle position range and the reverse verification contact relative angle position range.

[0042] When two intervals in the same direction are connected or overlap, the range between the larger position of the two smaller endpoints and the smaller position of the two larger endpoints is taken as the common part. The overlap of endpoints is considered to have a common part. When the two verified contact relative angle position intervals have a common part with the current contact relative angle position interval in the same direction, the forward contact relative angle position interval and the reverse contact relative angle position interval are updated with the common part. When the order of the endpoints on the stable transmission state side is not reversed and there are no new executable relative angle positions in the updated interval, the joint clearance range is redefined and output. When there are still executable relative angle positions that have not been detected by double history, they are re-detected and bidirectional verification is performed again.

[0043] When there is only one direction without a common part, the consistent direction is verified to retain the common part, and the inconsistent direction is verified to form the minimum continuous relative angle position range with the minimum and maximum positions of the four endpoints of the two intervals and the interval is updated. After re-probing, bidirectional verification is performed again.

[0044] When there is no common part in both directions, the actual forward and reverse angular displacements are redefined, the reverse and forward scans are re-executed, the relative angular position intervals of forward and reverse contact are re-established, the dual historical detection is re-implemented, and bidirectional verification is performed again.

[0045] The beneficial effects of this invention are as follows: by establishing the positive contact relative angle position interval and the reverse contact relative angle position interval together through two opposite motion histories, the difference in motion history is kept within the contact boundary range, thereby improving the identifiability of the mechanical contact boundary. By detecting the dual history at the same distinguishable relative angle position and the linkage contraction of the two contact relative angle position intervals, the influence of motion history differences on the determination of the joint gap range is reduced. By updating or re-detecting the two contact relative angle position intervals through bidirectional verification, the stability and verifiability of the joint gap range identification results are improved. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a flowchart of a method for identifying the joint gaps in a dexterous hand based on intelligent sensors.

[0048] Figure 2 Create flowcharts for the positive contact relative angle position range and the negative contact relative angle position range.

[0049] Figure 3 This is a flowchart for dual historical detection and interval update.

[0050] Figure 4 A flowchart for determining the range of joint space and two-way verification. Detailed Implementation

[0051] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0052] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0053] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0054] Reference Figures 1-4This is one embodiment of the present invention, which provides a method for identifying the joint gaps of a dexterous hand based on a smart sensor, including the following steps:

[0055] S1. Obtain the encoder angle on the drive side and the joint output angle and corresponding angle code output by the intelligent angle sensor. Determine the steering correspondence between the drive side and the joint output side based on the transmission structure of the dexterous hand joint to be identified. Determine the corresponding output side angle of the drive side based on the reduction ratio and steering correspondence. Establish a record of the relative angle between input and output. Determine the actual detected angular displacement in the forward and reverse directions based on the change of the angle code along the corresponding joint output direction under the forward and reverse stable transmission states.

[0056] The system acquires the joint output angle and angle code from the drive-side encoder angle and the intelligent angle sensor. The intelligent angle sensor is an absolute magnetic angle sensor. The rotation detection component of the intelligent angle sensor rotates synchronously with the joint output component, so that the joint output angle directly reflects the actual output position after deceleration. The angle code is a discrete code generated by the intelligent angle sensor according to the output angle sequence. When the joint output angle crosses an adjacent quantized position, the angle code enters the adjacent code. Before identification begins, the dexterous hand joint to be identified is positioned within the allowable rotation angle range with both forward and reverse motion margins, ensuring that the dexterous hand joint to be identified does not contact external objects. During the forward stable transmission state confirmation, reverse stable transmission state confirmation, reverse scanning, forward scanning, or verification scanning processes, if the dexterous hand joint to be identified reaches the allowable rotation angle boundary but has not completed the current process, the position record formed in the current process is not used for inter-joint operations. For gap identification, the joint gap range is not output in this identification. After reselecting an initial position with corresponding directional motion margin, the identification is re-executed. The joint connected to the dexterous hand joint to be identified maintains its current position. The direction of increasing angle of the drive-side encoder is determined as positive, and the direction of decreasing angle of the drive-side encoder is determined as negative. The steering correspondence between the drive side and the joint output side is determined according to the transmission structure of the dexterous hand joint to be identified. The physical rotation direction of the joint output corresponding to the positive motion of the drive side is determined as the positive direction of the joint output, and the opposite physical rotation direction of the joint output is determined as the negative direction of the joint output. After that, the direction of angle code change is determined according to the positive and negative directions of the joint output, not according to the increase or decrease of the angle code value. When the angle code crosses the coding cycle boundary from the maximum angle code to the minimum angle code or from the minimum angle code to the maximum angle code, the direction of change of the adjacent angle code is still determined according to the actual physical rotation direction of the joint output.

[0057] At the same sampling moment, the drive-side encoder angle, joint output angle, and angle code are read, and a sampling record is formed only when all three valid data are obtained simultaneously at the same sampling moment. If the drive-side encoder angle, joint output angle, or angle code is missing at any sampling moment, the current sampling record is not formed, and the ongoing forward actual detection angular displacement determination process, reverse actual detection angular displacement determination process, and actual detection or scanning results are not used to continue forming the corresponding results. After restoring complete synchronous sampling, the interrupted forward actual detection angular displacement determination process, reverse actual detection angular displacement determination process, and actual detection or scanning are re-executed. When the drive-side encoder angle crosses the coding cycle boundary, the change in the drive-side encoder angle is continuously accumulated according to the actual movement direction of the drive side. When the joint output angle crosses the angle cycle boundary of the intelligent angle sensor, the change in the joint output angle is continuously accumulated according to the actual physical rotation direction of the joint output, so that the drive-side encoder angle and the joint output angle remain continuous in adjacent sampling moments.

[0058] Using the identification start time as a common starting point, the angular change of the current drive-side encoder angle relative to the identification start time and the angular change of the current joint output angle relative to the identification start time are obtained respectively. The drive-side angular change is determined as the joint output angle change according to the reduction gear ratio and steering correspondence. The joint output angle change is recorded as a positive change if the joint output is in the positive direction and a negative change if the joint output is in the negative direction. The difference between the angular change formed by the drive side on the joint output side and the joint output angle change under the same direction reference is saved as the input-output relative angle record in the sampling time sequence. The difference saved at each sampling time in the input-output relative angle record is used as the input-output relative angle position at the current sampling time. The angular change formed by the drive side on the joint output side and the joint output angle change are both in the same angle unit. The minimum executable angular displacement of the drive side is the smallest angular position change that the drive mechanism can execute under the current control resolution capability and can be distinguished by the drive-side encoder. Subsequent movements are all based on the minimum executable angular displacement of the drive side as the minimum movement step.

[0059] The reduction ratio is taken from the design transmission parameters of the dexterous hand joint to be identified, and the reduction ratio is determined by the ratio of the driving side angular displacement to the joint output side angular displacement.

[0060] The minimum executable angular displacement on the drive side, after being determined according to the reduction gear ratio, results in an angular displacement on the joint output side that is no greater than the angle change between two adjacent quantized positions of the intelligent angle sensor, ensuring that a single minimum executable angular displacement on the drive side causes the angle code to enter at most one adjacent code.

[0061] After establishing the input-output relative angle record, the actual forward detection angular displacement is determined. The drive side is controlled to move forward sequentially according to the minimum executable angular displacement of the drive side. After each completion of the minimum executable angular displacement of the drive side, the encoder angle, joint output angle, and angle code of the drive side are read once. When the angle code enters the adjacent angle code for the first time along the drive side forward direction in the corresponding joint output direction under the steering correspondence, the forward movement continues. When the angle code enters the next adjacent angle code again along the same joint output direction, and there is no angle code change along the opposite joint output direction between the two angle code changes, the forward stable transmission state is confirmed. The absolute change of the angular displacement of the drive side encoder between the two angle code changes is taken. The absolute change of the angular displacement of the drive side encoder is determined as the magnitude of the joint output side angular displacement according to the reduction transmission ratio, and is determined as the actual forward detection angular displacement.

[0062] After confirming the forward stable transmission state, the control drive side moves in reverse sequentially according to the minimum executable angular displacement of the drive side. After each completion of the minimum executable angular displacement of the drive side, the drive side encoder angle, joint output angle and angle code are read once. When the angle code enters two adjacent angle codes in the joint output direction corresponding to the steering relationship in the reverse direction of the drive side, and there is no angle code change in the opposite joint output direction between the two angle code changes, the reverse stable transmission state is confirmed. The absolute change of the drive side encoder angular displacement between the two angle code changes is taken. The absolute change of the drive side encoder angular displacement is determined as the magnitude of the joint output side angular displacement according to the reduction transmission ratio, and is determined as the actual reverse detected angular displacement.

[0063] Both the forward and reverse actual detected angular displacements represent the non-negative magnitude of the joint output side angular displacement. The forward or reverse motion is determined by the detection direction alone. The first entry into the adjacent angle code along the current joint output direction only indicates that the joint output angle has crossed a quantization boundary. If the next entry into the next adjacent angle code along the same joint output direction occurs again and there is no angle code change along the opposite joint output direction between the two angle code changes, it indicates that the joint output angle has continuously crossed a complete adjacent quantization position and maintained the angular displacement transmission in the current direction.

[0064] When the angle code remains unchanged throughout the entire execution of an actual detection angular displacement, it is determined to be no output response. When the angle code enters the adjacent angle code only along the current detection direction in the joint output direction corresponding to the steering correspondence, it is determined to be a same-direction output response. When the angle code enters the adjacent angle code in the opposite direction of the current detection direction in the joint output direction corresponding to the steering correspondence during the detection period, it is determined to be a direction conflict.

[0065] When a directional conflict triggers the re-determination of the forward or reverse actual probe angular displacement, the angle code change records and scan position records formed during the directional conflict do not participate in the determination of the new actual probe angular displacement. After reconfirming the forward stable transmission state, only two consecutive adjacent angle code change records along the drive side forward direction corresponding to the joint output direction under the steering correspondence are used to determine the new forward actual probe angular displacement. After reconfirming the reverse stable transmission state, only two consecutive adjacent angle code change records along the drive side reverse direction corresponding to the joint output direction under the steering correspondence are used to determine the new reverse actual probe angular displacement. After the new actual probe angular displacement is formed, the scan or probe in the direction where the directional conflict occurred is re-executed.

[0066] S2. Move from the stable transmission state to the opposite direction according to the corresponding actual detected angular displacement. Based on the input and output relative angle records during the transition from the current stable transmission state to the opposite stable transmission state, establish the positive contact relative angular position interval and the reverse contact relative angular position interval.

[0067] Starting from the forward stable transmission state, establish the forward contact relative angle position interval and the reverse contact relative angle position interval. Keep the dexterous hand joint to be identified in the forward stable transmission state, and move segment by segment in the opposite direction according to the reverse actual detected angle displacement. Each reverse actual detected angle displacement is continuously completed by one or more drive-side minimum executable angle displacements. After each drive-side minimum executable angle displacement is completed, read the drive-side encoder angle, joint output angle and angle code, and form a new input-output relative angle record.

[0068] When reversing from a stable forward transmission state, the relative angular positions of the input and output and the changes in the angle code during the reversing process are continuously saved. If, within the first minimum executable angular displacement on the drive side after reversing from a stable forward transmission state, the angle code remains unchanged and a reversing same-direction output response occurs directly, the relative angular positions of the input and output at the start of the reversing movement are simultaneously recorded as the stable transmission side position during the exit process of the forward transmission surface and the free clearance side position during the entry process of the reverse transmission surface. Similarly, the relative angular positions of the input and output at the occurrence of the first reversing same-direction output response are simultaneously recorded as the free clearance side position during the exit process of the forward transmission surface and the stable transmission side position during the entry process of the reverse transmission surface. When a complete reverse actual detection angular displacement occurs and the angle code remains unchanged, if a reverse output angle change has already occurred before the first no output response, the input-output relative angular position at which the last confirmed reverse output angle change occurred before the no output response is recorded as the stable transmission side position during the forward transmission surface exit process. If the first reverse actual detection angular displacement executed from the forward stable transmission state is the no output response, the input-output relative angular position at the start of the reverse motion is recorded as the stable transmission side position during the forward transmission surface exit process. In both cases, the input-output relative angular position at the first completion of the no output response is recorded as the free clearance side position during the forward transmission surface exit process.

[0069] The forward transmission surface refers to the mechanical contact side that transmits angular displacement under the forward stable transmission state, while the reverse transmission surface refers to the mechanical contact side that transmits angular displacement under the reverse stable transmission state.

[0070] After a complete no-output response occurs, the reverse motion continues. Each time a reverse actual detected angular displacement is completed, the angle code state is determined. As long as the angle code remains unchanged, the latest input-output relative angular position is recorded as the free clearance side position during the reverse transmission surface entry process. When the first reverse same-direction output response occurs, the last recorded free clearance side position before the reverse same-direction output response is used as the free clearance side position during the reverse transmission surface entry process, and the input-output relative angular position at the time of the first reverse same-direction output response is recorded as the stable transmission side position during the reverse transmission surface entry process. If, before forming a complete no-output response, the angle code remains unchanged during one or more minimum executable angular displacements on the drive side, and a reverse response subsequently occurs... In the case of a unidirectional output response, the input-output relative angle position at the last confirmed reverse output angle change before the angle code begins to remain unchanged is recorded as the stable transmission side position during the exit process of the forward transmission surface. The input-output relative angle position at the last valid sampling moment before the reverse unidirectional output response is simultaneously recorded as the free clearance side position during the exit process of the forward transmission surface and the free clearance side position during the entry process of the reverse transmission surface. The input-output relative angle position at the time of the first reverse unidirectional output response is recorded as the stable transmission side position during the entry process of the reverse transmission surface. In both cases, the reverse movement continues until the angle code enters the next adjacent angle code again along the reverse direction of the drive side in the corresponding joint output direction under the steering correspondence.

[0071] After the reverse scan is completed, the vehicle moves forward segment by segment according to the actual detected angular displacement from the reverse stable transmission state. When no angle code remains unchanged within the first minimum executable angular displacement of the drive side after starting forward movement from the reverse stable transmission state and a forward same-direction output response occurs directly, the relative angular positions of the input and output at the start of the forward movement are simultaneously recorded as the stable transmission side position during the exit process from the reverse stable transmission state and the free clearance side position during the entry process into the forward stable transmission state. The relative angular positions of the input and output at the occurrence of the first forward same-direction output response are simultaneously recorded as the free clearance side position during the exit process from the reverse stable transmission state and the stable transmission side position during the entry process into the forward stable transmission state. When a complete positive actual angular displacement is first achieved while the angle code remains constant, if a positive output angle change has already occurred before the first no-output response, the last confirmed positive output angle change before the no-output response is recorded as the stable transmission side position during the reverse transmission surface exit process. If the first positive actual angular displacement achieved from the reverse stable transmission state is the no-output response, the input-output relative angular position at the start of the positive motion is recorded as the stable transmission side position during the reverse transmission surface exit process. In both cases, the input-output relative angular position at the first completion of the no-output response is recorded as the free clearance during the reverse transmission surface exit process. After a complete no-output response occurs at the side position, the forward motion continues. As long as the angle code remains unchanged, the latest input-output relative angular position is recorded as the free clearance side position during the forward transmission surface entry process. When the first positive same-direction output response occurs, the last recorded free clearance side position before the positive same-direction output response is used as the free clearance side position during the forward transmission surface entry process, and the input-output relative angular position at the time of the first positive same-direction output response is recorded as the stable transmission side position during the forward transmission surface entry process. If, before the formation of a complete no-output response, one or more drive-side minimum executable angular displacements have occurred with the angle code remaining unchanged, and then a positive same-direction output response occurs, then... The input-output relative angle position at the last confirmed positive output angle change before the angle code begins to remain unchanged is recorded as the stable transmission side position during the exit process of the reverse transmission surface. The input-output relative angle position at the last valid sampling moment before the positive same-direction output response is simultaneously recorded as the free clearance side position during the exit process of the reverse transmission surface and the free clearance side position during the entry process of the positive transmission surface. The input-output relative angle position at the time of the first positive same-direction output response is recorded as the stable transmission side position during the entry process of the positive transmission surface. In both cases, the positive movement continues until the angle code enters the next adjacent angle code again along the positive direction of the drive side in the joint output direction corresponding to the steering correspondence.

[0072] The forward transmission surface has two motion history records: entering the forward stable transmission state from the free clearance side and exiting the forward stable transmission state to the free clearance side. The positions of the free clearance side and stable transmission side during the forward transmission surface entry process, and the positions of the stable transmission side and free clearance side during the forward transmission surface exit process are arranged in ascending order of input-output relative angle position. The smallest and largest input-output relative angle positions among the four positions form the forward contact relative angle position interval. The smaller input-output relative angle position in the forward contact relative angle position interval is taken as the free clearance side endpoint, and the larger input-output relative angle position is taken as the stable transmission state side endpoint.

[0073] The reverse transmission surface has two motion history records: entering the reverse stable transmission state from the free clearance side and exiting the reverse stable transmission state to the free clearance side. The positions of the free clearance side and the stable transmission side during the reverse transmission surface entering the reverse transmission surface, and the positions of the stable transmission side and the free clearance side during the reverse transmission surface exiting the reverse transmission surface, are arranged in ascending order of input-output relative angle position. The smallest and largest input-output relative angle positions among the four positions form the reverse contact relative angle position interval. The smaller input-output relative angle position in the reverse contact relative angle position interval is taken as the stable transmission state side endpoint, and the larger input-output relative angle position is taken as the free clearance side endpoint.

[0074] The two opposing motion histories together define a mechanical contact boundary, so that the position where the first output motion occurs is not directly identified as the only mechanical contact position. The differences in motion histories caused by static friction, transmission elastic recovery, or slight preload are retained within the positive contact relative angle position range and the negative contact relative angle position range.

[0075] When a directional conflict occurs during reverse scanning, all reverse scanning position records with directional conflicts are not used to establish the two contact relative angle position intervals. The actual reverse detection angular displacement is re-determined, and the reverse scan from the forward stable transmission state to the reverse stable transmission state is re-executed. The forward scan position records that have been fully acquired and have not experienced directional conflicts are retained. When a directional conflict occurs during forward scanning, all forward scan position records with directional conflicts are not used to establish the two contact relative angle position intervals. The actual forward detection angular displacement is re-determined, and the forward scan from the reverse stable transmission state to the forward stable transmission state is re-executed. The reverse scan position records that have been fully acquired and have not experienced directional conflicts are retained. After both the reverse scan position records and the forward scan position records are valid, the forward contact relative angle position interval and the reverse contact relative angle position interval are established.

[0076] S3. Select relative angle positions in the positive contact relative angle position range and the negative contact relative angle position range, respectively reach the same resolvable relative angle position from the free clearance side and the stable transmission state side. When processing the positive contact relative angle position range, detect in the positive direction according to the actual detected angle displacement. When processing the negative contact relative angle position range, detect in the negative direction according to the actual detected angle displacement. Update the range according to the two angle code changes of the intelligent angle sensor. Based on whether the two ranges are completely separated, connected or coincident, and the sequential relationship of the stable transmission state side, limit the next relative angle position or redetermine the actual detected angle displacement in the reverse direction.

[0077] For both the forward and reverse contact relative angle position intervals, dual historical detection is performed at the same resolvable relative angle position. The two contact relative angle position intervals are processed alternately in the order of reverse contact relative angle position interval and forward contact relative angle position interval. When one contact relative angle position interval can no longer be contracted, only the other contact relative angle position interval with a detectable position is processed. When processing a contact relative angle position interval, it is first checked whether there is still an input-output relative angle position that can be actually reached by the drive side and has not yet been dual historically detected between the free clearance side endpoint and the stable transmission state side endpoint. When there are multiple detectable positions, the middle position between the two endpoints of the contact relative angle position interval is determined first. Then, the position closest to the middle position and not yet dual historically detected is selected from the positions that can be actually reached by the drive side as the target relative angle position. When there are two detectable positions with the same distance on both sides of the middle position, the position closer to the free clearance side is selected first.

[0078] When processing the forward contact relative angle position interval, the detection direction is fixed as forward and the forward actual detection angle displacement is executed. When processing the reverse contact relative angle position interval, the detection direction is fixed as reverse and the reverse actual detection angle displacement is executed. Before the first detection begins, the drive side is moved to the free gap side endpoint of the current contact relative angle position interval, and then moves from the free gap side endpoint towards the target relative angle position. The drive side is controlled to approach the target relative angle position step by step according to the minimum executable angle displacement of the drive side. The input and output relative angle positions are recalculated after each drive movement is completed. When continuing to execute the next minimum executable angle displacement of the drive side cannot make the input and output relative angle positions closer to the target relative angle position, the positioning is stopped and the current actual input and output relative angle positions are recorded. The current actual position is used as the actual position used for this dual historical detection. Then, the detection is completed according to the fixed detection direction and actual detection angle displacement of the current contact relative angle position interval, and the angle code changes during the complete detection period are recorded.

[0079] The second detection begins from the stable transmission state side and enters the first detection position. When processing the forward contact relative angle position range, it first moves towards the forward stable transmission state side until the angle code continuously enters two adjacent angle codes along the drive side forward direction corresponding to the joint output direction under the steering correspondence, and there is no angle code change along the opposite joint output direction between the two angle code changes. The forward stable transmission state is then reconfirmed. When processing the reverse contact relative angle position range, it first moves towards the reverse stable transmission state side until the angle code continuously enters two adjacent angle codes along the drive side reverse direction corresponding to the joint output direction under the steering correspondence, and there is no angle code change along the opposite joint output direction between the two angle code changes. The reverse stable transmission state is then reconfirmed, and then it moves from the stable transmission state side towards... During the initial detection position movement, the input-output relative angular position is re-acquired after each execution of the minimum executable angular displacement on the drive side. When the first detection position can be reached, it is used as the second detection position. When the first detection position cannot be reached due to the limitation of the minimum executable angular displacement on the drive side, the nearest position with no other executable input-output relative angular position between it and the first detection position is used as the second detection position. At the second detection position, the same actual detection angular displacement is executed in the same direction as the first detection, and the angle code change during the complete detection period is recorded. When the second detection position is different from the first detection position, the two positions are recorded as two actual positions of the same resolvable relative angular position. After that, the two positions are no longer selected separately when selecting the relative angular position.

[0080] The same resolvable relative angular position refers to the situation where two probes can reach the same input-output relative angular position, or cannot be completely identical due to the minimum executable angular displacement limitation of the drive side. There are no other input-output relative angular positions that the drive side can actually reach between the first probe position and the second probe position. In the case where they cannot be completely identical due to the minimum executable angular displacement limitation of the drive side, the difference between the two positions belongs to the angular position difference that the current drive side's resolution capability cannot further subdivide.

[0081] When there is no output response from both probes, it indicates that the same distinguishable relative angular position cannot establish an effective angular displacement transfer in the current direction under both entry histories. The first probe position is confirmed as the free clearance position, and the free clearance side endpoint of the current contact relative angular position interval is replaced by the first probe position. After the update, the next time the relative angular position can only be selected between the new free clearance side endpoint and the original stable transmission state side endpoint.

[0082] When both detections produce output responses in the same direction, it indicates that the same distinguishable relative angular position can establish an effective angular displacement transfer in the current direction under both entry histories. The first detection position is confirmed as the stable transmission position, and the first detection position is used to replace the stable transmission state side endpoint of the current contact relative angular position interval. After the update, the next time the relative angular position can only be selected between the original free clearance side endpoint and the new stable transmission state side endpoint.

[0083] When one probe produces no output response while another probe produces a response in the same direction, it is determined that the two probe results for the same distinguishable relative angle position are inconsistent. The first probe position is not directly assigned to the free gap, nor is it directly assigned to the stable transmission state. Instead, the two endpoints of the current contact relative angle position interval are retained. The first and second probe positions for the same distinguishable relative angle position are recorded as positions where double historical probes have been completed. In the next probe, the first and second probe positions are not selected separately. Instead, the position closest to the middle position of the interval is selected from the remaining executable positions within the current contact relative angle position interval. As double historical probes continue, the last position on the free gap side that produces no output response in both probes gradually moves toward the contact boundary. The first position on the stable transmission state side that produces a response in the same direction in both probes gradually moves toward the contact boundary. All positions with inconsistent probe results are ultimately retained between the two defined endpoints.

[0084] When a directional conflict occurs during any detection, the results of this dual-historical detection do not change the forward contact relative angular position interval and the reverse contact relative angular position interval. When a directional conflict occurs during forward detection, the actual forward detection angular displacement is re-determined, and the forward scan from the reverse stable transmission state to the forward stable transmission state is re-executed. The position records of the reverse transmission surface exiting the process and the position records of the forward transmission surface entering the process are updated. Then, the updated forward scan position records and the retained valid reverse scan position records are used together to re-establish the forward contact relative angular position interval and the reverse contact relative angular position interval. When a directional conflict occurs during reverse detection, the actual reverse detection angular displacement is re-determined. The reverse scan from the forward stable transmission state to the reverse stable transmission state is re-executed, and the position records of the forward transmission surface exit process and the reverse transmission surface entry process are updated. The updated reverse scan position records and the retained valid forward scan position records are then used together to re-establish the forward contact relative angle position interval and the reverse contact relative angle position interval. After the two contact relative angle position intervals are re-established, the position records that have been completed before the re-establishment are cleared. Then, the dual historical detection is re-implemented according to the re-established forward contact relative angle position interval, the reverse contact relative angle position interval, and the current forward actual detection angle displacement and the reverse actual detection angle displacement.

[0085] After each valid interval update, immediately compare the forward contact relative angle position interval and the reverse contact relative angle position interval. When the two intervals are completely separated, check whether there are still executable relative angle positions within the forward and reverse contact relative angle position intervals that have not yet completed double historical detection. If at least one contact relative angle position interval still contains executable relative angle positions that have not yet completed double historical detection, continue processing contact relative angle position intervals that still contain executable relative angle positions. When neither of the two contact relative angle position intervals contains executable relative angle positions that have not yet completed double historical detection, stop. Continue to contract and enter the joint space range determination. When two intervals begin to connect or overlap, and there are still executable relative angle positions within the connecting or overlapping range that have not yet completed dual historical detection, process them in the order of reverse contact relative angle position interval and forward contact relative angle position interval, and limit the target relative angle position to the connecting or overlapping range. After completing the endpoint update of one contact relative angle position interval, redetermine the connecting or overlapping range of the two intervals, and then select the target relative angle position for another contact relative angle position interval, so that the update result of one contact boundary directly restricts the next allowed selection position of the other contact boundary.

[0086] When two intervals are connected or overlapped, and there are no executable relative angle positions within the connected or overlapping range that have not yet completed dual historical detection, the two contact relative angle position intervals stop contracting towards each other and enter the joint space range for determination.

[0087] After each valid interval update, the sequential relationship between the two stable transmission state endpoints is checked along the direction of increasing relative angular position of input and output. The stable transmission state endpoint of the reverse contact relative angular position interval should be before the stable transmission state endpoint of the forward contact relative angular position interval. When the most recent interval update causes the stable transmission state endpoint of the reverse contact relative angular position interval to be after the stable transmission state endpoint of the forward contact relative angular position interval, the sequential relationship of the stable transmission state endpoints is reversed, and the most recent interval update that caused the reversal is canceled. When the most recent update occurs in the forward contact relative angular position interval, the forward actual detection angular displacement is re-determined, and the forward scan from the reverse stable transmission state to the forward stable transmission state is re-executed. The updated forward scan position record and the retained valid reverse scan position record are used together to re-establish the two contact relative angular position intervals. When the most recent update occurs in the reverse contact relative angular position interval, the reverse actual detection angular displacement is re-determined, and the reverse scan from the forward stable transmission state to the reverse stable transmission state is re-executed. The updated reverse scan position record and the retained valid forward scan position record are used together to re-establish the two contact relative angular position intervals.

[0088] After re-establishing the two contact relative angle position intervals, clear the position records of the double historical detection that were completed before the re-establishment, and re-select the relative angle positions according to the two contact relative angle position intervals after the re-establishment to carry out double historical detection.

[0089] When there are no longer any executable relative angle positions between the free clearance side endpoint and the stable transmission state side endpoint within a contact relative angle position interval that have not yet completed dual historical detection, the current direction stops contracting.

[0090] S4. Determine the joint gap range based on the relative angular position range of the forward contact and the relative angular position range of the reverse contact, and verify it in opposite directions from the forward and reverse stable transmission states. If they are consistent in both directions, output the joint gap range. If they are inconsistent in one direction, update the range and re-detect. If they are inconsistent in both directions, redetermine the actual forward and reverse detected angular displacements.

[0091] The joint clearance range is determined based on the forward and reverse contact relative angular position ranges. Following the increasing order of input / output relative angular positions from the reverse stable transmission state to the forward stable transmission state, the four boundary positions for calculating the joint clearance range are: the stable transmission state endpoint of the reverse contact relative angular position range, the free clearance endpoint of the reverse contact relative angular position range, the free clearance endpoint of the forward contact relative angular position range, and the stable transmission state endpoint of the forward contact relative angular position range. When the two contact relative angular position ranges are completely separated, the free clearance endpoints of the forward and reverse contact relative angular position ranges are considered as boundary positions. The angle difference is used as the smaller boundary of the joint gap range. The angle difference between the stable transmission state side endpoints of the positive contact relative angle position interval and the stable transmission state side endpoints of the negative contact relative angle position interval is used as the larger boundary of the joint gap range. When the two contact relative angle position intervals are connected or coincident, the smaller boundary of the joint gap range is recorded as zero, and the larger boundary of the joint gap range is still the angle difference between the stable transmission state side endpoints of the positive contact relative angle position interval and the stable transmission state side endpoints of the negative contact relative angle position interval. When the order of the two stable transmission state side endpoints is reversed, the joint gap range calculation is not performed, and the process of updating the contact relative angle position interval is returned.

[0092] After obtaining the joint gap range, the identification process does not end immediately. First, the dexterous hand joint to be identified is brought back into the forward stable transmission state. Then, a complete scan is performed in the reverse direction according to the actual detected angular displacement. The position records of the forward transmission surface exiting the free gap and the position records of the reverse transmission surface entering the stable transmission state are obtained again. Subsequently, the dexterous hand joint to be identified is brought back into the reverse stable transmission state. Then, a complete scan is performed in the forward direction according to the actual detected angular displacement. The position records of the reverse transmission surface exiting the free gap and the position records of the forward transmission surface entering the stable transmission state are obtained again. According to the recording rules of the stable transmission side position and the free gap side position in the reverse and forward scans, the cases of complete no-output response, same-direction output response before the formation of complete no-output response, and same-direction output response directly within the first minimum executable angular displacement of the drive side are processed respectively. The position records of the forward transmission surface exit process, the reverse transmission surface entry process, the reverse transmission surface exit process, and the forward transmission surface entry process are obtained again, and the forward verification contact relative angular position range and the reverse verification contact relative angular position range are re-formed.

[0093] When comparing the verification contact relative angle position interval in the same direction with the current contact relative angle position interval, the larger position of the smaller endpoint of each interval is taken as the smaller endpoint of the common part, and the smaller position of the larger endpoint of each interval is taken as the larger endpoint of the common part. When the smaller endpoint of the common part is smaller than the larger endpoint of the common part, it is determined that the two intervals have a common part. When the two endpoints of the common part coincide, it is also determined that the two intervals have a common part. When the smaller endpoint of the common part is larger than the larger endpoint of the common part, it is determined that the two intervals do not have a common part. The continuous range between the smallest input-output relative angle position and the largest input-output relative angle position among the four endpoints of the two intervals is determined as the minimum continuous relative angle position range.

[0094] When the forward verification contact relative angle position interval has a common part with the current forward contact relative angle position interval, and the reverse verification contact relative angle position interval also has a common part with the current reverse contact relative angle position interval, the bidirectional verification is determined to be consistent. The forward and reverse contact relative angle position intervals are updated using the two common parts respectively. After the update, the order of the two stable transmission state side endpoints is checked first. When the order of the order is reversed, the current joint clearance range is not output, and the two contact relative angle position intervals are re-established according to the processing rules for the order of the stable transmission state side endpoints being reversed. When the order of the order is not reversed and there are still executable relative angle positions that have not been completed by double historical detection in the updated interval, the current joint clearance range is only used as an intermediate result. The updated two contact relative angle position intervals are re-sent into the double historical detection process, and bidirectional verification is performed again after re-detection. When the order of the order is not reversed and there are no new executable relative angle positions in the updated two intervals, the joint clearance range is re-determined and output according to the updated two intervals.

[0095] When the verification contact relative angle position interval in only one direction has no common part with the current contact relative angle position interval in the same direction, it is determined that the one-way verification is inconsistent. The verification consistent direction retains the common part between the current contact relative angle position interval and the verification contact relative angle position interval in the same direction. The verification inconsistent direction includes the current contact relative angle position interval and the verification contact relative angle position interval in the same direction together within a minimum continuous relative angle position range. The minimum continuous relative angle position range is used as the contact relative angle position interval of the verification inconsistent direction again. Then, double historical detection is performed only on the verification inconsistent direction. After the verification inconsistent direction completes double historical detection, the joint gap range is re-determined, and the reverse scan and forward scan are re-executed for bidirectional verification. The final joint gap range is not output until the bidirectional verification consistency is satisfied again and the output condition is met.

[0096] When the forward verification contact relative angle position interval has no common part with the current forward contact relative angle position interval, and the reverse verification contact relative angle position interval has no common part with the current reverse contact relative angle position interval, it is determined that the bidirectional verification is inconsistent. When the bidirectional verification is inconsistent, the output of the current joint clearance range is stopped, and new forward actual detection angle displacement and reverse actual detection angle displacement are obtained again in the forward stable transmission state and the reverse stable transmission state. Then, the reverse scan and forward scan are re-executed to re-establish the forward contact relative angle position interval and the reverse contact relative angle position interval, implement dual historical detection, and perform bidirectional verification again.

[0097] When a directional conflict occurs during verification scanning, the verification scan position records with the conflict are not used to form the forward verification contact relative angle position interval and the reverse verification contact relative angle position interval. When a directional conflict occurs during reverse verification scanning, the actual reverse detection angle displacement is re-determined and a complete reverse verification scan is re-executed. The forward verification scan position records that have been fully obtained without directional conflict are retained. When a directional conflict occurs during forward verification scanning, the actual forward detection angle displacement is re-determined and a complete forward verification scan is re-executed. The reverse verification scan position records that have been fully obtained without directional conflict are retained. When directional conflicts occur during verification scanning in both directions, the actual forward and reverse detection angle displacements are re-determined, and a complete verification scan in both directions is re-executed. After both the reverse and forward verification scan position records are valid, the forward verification contact relative angle position interval and the reverse verification contact relative angle position interval are formed, and the judgment of bidirectional verification consistency, unidirectional verification inconsistency, or bidirectional verification inconsistency is performed.

[0098] In summary, this invention establishes a forward contact relative angle position interval and a reverse contact relative angle position interval by using two opposing motion histories, thus preserving the motion history differences within the contact boundary range and improving the identifiability of the mechanical contact boundary. By using dual-history detection of the same distinguishable relative angle position and the coordinated contraction of the two contact relative angle position intervals, the impact of motion history differences on the determination of the joint gap range is reduced. By updating or re-detecting the two contact relative angle position intervals through bidirectional verification, the stability and verifiability of the joint gap range identification results are improved.

[0099] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for identifying the joint gaps of a dexterous hand based on intelligent sensors, characterized in that, include: The algorithm acquires the joint output angle and corresponding angle code output by the drive-side encoder and the intelligent angle sensor. Based on the transmission structure of the dexterous hand joint to be identified, it determines the steering correspondence between the drive side and the joint output side. Based on the reduction ratio and steering correspondence, it determines the corresponding output side angle of the drive side. It establishes a record of the relative angles of input and output. Based on the change of the angle code along the corresponding joint output direction under the forward and reverse stable transmission states, it determines the actual detected angular displacement in the forward and reverse directions. According to the corresponding actual detected angular displacement, the movement moves from the stable transmission state to the opposite direction. Based on the input and output relative angle records during the transition from the current stable transmission state to the opposite stable transmission state, the positive contact relative angle position interval and the reverse contact relative angle position interval are established. Select relative angle positions in the positive contact relative angle position range and the negative contact relative angle position range. Reach the same resolvable relative angle position from the free clearance side and the stable transmission state side respectively. When processing the positive contact relative angle position range, detect in the positive direction according to the actual detected angular displacement. When processing the negative contact relative angle position range, detect in the negative direction according to the actual detected angular displacement. Update the range according to the two angle code changes of the intelligent angle sensor. Determine the next relative angle position or redetermine the actual detected angular displacement in the reverse direction based on whether the two ranges are completely separated, connected or coincident, and the sequential relationship of the stable transmission state side. The joint gap range is determined based on the relative angular position range of the forward contact and the relative angular position range of the reverse contact, and verified by the forward and reverse stable transmission states in opposite directions. If they are consistent in both directions, the joint gap range is output. If they are inconsistent in one direction, the range is updated and the detection is repeated. If they are inconsistent in both directions, the actual forward and reverse detected angular displacements are re-determined.

2. The method for identifying the joint gaps of a dexterous hand based on intelligent sensors as described in claim 1, characterized in that, The specific steps for determining the actual detected angular displacement in the forward and reverse directions based on the change in angle code along the corresponding joint output direction under the forward and reverse stable transmission states are as follows: When the angle code continuously enters two adjacent angle codes along the positive direction of the drive side in the corresponding joint output direction under the steering correspondence, and there is no angle code change along the opposite joint output direction between the two angle code changes, the positive stable transmission state is confirmed, and the actual positive detected angle displacement is determined according to the absolute change of the angular displacement of the drive side encoder and the reduction transmission ratio between the two angle code changes. When the angle code continuously enters two adjacent angle codes in the opposite direction of the joint output direction under the steering correspondence along the drive side, and there is no angle code change along the opposite joint output direction between the two angle code changes, the reverse stable transmission state is confirmed, and the actual reverse detected angle displacement is determined according to the absolute change of the angular displacement of the drive side encoder and the reduction transmission ratio between the two angle code changes.

3. The method for identifying the joint gaps of a dexterous hand based on intelligent sensors as described in claim 1 or 2, characterized in that, The specific steps for moving from the stable transmission state to the opposite direction according to the corresponding actual detected angular displacement, and recording the relative angles of input and output during the transition from the current stable transmission state to the opposite stable transmission state, are as follows: Starting from the forward stable transmission state, the actual detected angular displacement is scanned in the reverse direction. The positions of the stable transmission side and the free clearance side are recorded during the process of exiting the forward stable transmission state to the free clearance, as well as the positions of the free clearance side and the stable transmission side during the process of entering from the free clearance reverse transmission surface. When the angle code remains unchanged and a reverse same-direction output response occurs directly within the first minimum executable angular displacement of the drive side after the reverse motion starts from the forward stable transmission state, the relative angle position of the input and output at the start of the reverse motion is simultaneously recorded as the stable transmission side position during the exit process of the forward transmission surface and the free clearance side position during the entry process of the reverse transmission surface. The relative angle position of the input and output when the first reverse same-direction output response occurs is simultaneously recorded as the free clearance side position during the exit process of the forward transmission surface and the stable transmission side position during the entry process of the reverse transmission surface. Then, from the reverse stable transmission state, scan in the forward direction according to the actual detected angular displacement, and record the stable transmission side position and the free gap side position during the process of exiting the reverse stable transmission state to the free gap, as well as the free gap side position and the stable transmission side position during the process of entering the forward stable transmission state from the free gap. When no angle code remains unchanged within the first minimum executable angular displacement of the drive side after starting forward motion from the reverse stable transmission state and a forward same-direction output response occurs directly, the relative angle positions of the input and output at the start of forward motion are simultaneously recorded as the stable transmission side position during the exit process from the reverse stable transmission state and the free clearance side position during the entry process from the forward stable transmission state. The relative angle positions of the input and output when the first forward same-direction output response occurs are simultaneously recorded as the free clearance side position during the exit process from the reverse stable transmission state and the stable transmission side position during the entry process from the forward stable transmission state.

4. The method for identifying the joint gaps of a dexterous hand based on intelligent sensors as described in claim 3, characterized in that, The specific steps for establishing the positive contact relative angle position range and the negative contact relative angle position range are as follows: The free gap side position and stable transmission side position obtained from entering the positive stable transmission state from the free gap and exiting the positive stable transmission state back to the free gap are arranged according to the input-output relative angle position. The positive contact relative angle position range is formed with the minimum position and the maximum position. The smaller position is used as the free gap side endpoint and the larger position is used as the stable transmission state side endpoint. The free gap side position and stable transmission side position obtained by entering the reverse stable transmission state from the free gap and exiting the reverse stable transmission state to the free gap are arranged according to the relative angle position of input and output. The reverse contact relative angle position interval is formed by the minimum position and the maximum position. The smaller position is used as the side endpoint of the stable transmission state and the larger position is used as the side endpoint of the free gap.

5. The method for identifying the joint gaps of a dexterous hand based on intelligent sensors as described in claim 4, characterized in that, The specific steps for selecting the relative angle position within the positive contact relative angle position range and the negative contact relative angle position range are as follows: Between the free clearance side endpoint and the stable transmission state side endpoint, among the input and output relative angle positions that can be actually reached from the drive side and have not yet completed the same resolvable relative angle position from the free clearance side and the stable transmission state side, select the position closest to the middle position of the two endpoints. When there are equidistant positions on both sides of the middle position, select the position closer to the free clearance side first.

6. The method for identifying the joint gaps of a dexterous hand based on intelligent sensors as described in claim 5, characterized in that, The steps are as follows: When processing the positive contact relative angle position interval, the detection is performed according to the positive actual detected angular displacement, and when processing the negative contact relative angle position interval, the detection is performed according to the negative actual detected angular displacement. When processing the forward contact relative angle position range, the movement starts from the free gap side and selects the relative angle position. The actual input / output relative angle position reached is taken as the first detection position, and the first detection is completed in the forward direction according to the actual detection angle displacement. When processing the reverse contact relative angle position range, the movement starts from the free gap side and selects the relative angle position. The actual input / output relative angle position reached is taken as the first detection position, and the first detection is completed in the reverse direction according to the actual detection angle displacement. Then, the movement starts from the stable transmission state side and moves towards the first detection position. When the first detection position can be reached, the first detection position is taken as the second detection position. When the first detection position cannot be reached due to the minimum executable angle displacement limitation on the drive side, the nearest position with no other executable input / output relative angle position between it and the first detection position is taken as the second detection position. At the second detection position, the same actual detection angle displacement is performed in the same direction as the first detection, and the angle code change during the two detections is recorded respectively. When the second detection position is different from the first detection position, the first detection position and the second detection position are recorded as two actual positions of the same resolvable relative angle position. After that, the two positions are no longer selected separately when selecting the relative angle position.

7. The method for identifying the joint gaps of a dexterous hand based on intelligent sensors as described in claim 6, characterized in that, The specific steps for updating the interval based on two angle code changes from the intelligent angle sensor are as follows: If there is no output response after two probes, replace the free gap side endpoint with the position of the first probe. When both detections produce output responses in the same direction, the stable transmission state end point is replaced with the position of the first detection. When there is no output response once and the other is an output response in the same direction, keep the two endpoints unchanged, and record the first and second detection positions of the same resolvable relative angular position as the positions where double historical detection has been completed. When a directional conflict occurs during any detection, the forward contact relative angle position interval and the reverse contact relative angle position interval are not updated. The actual detection angular displacement of the direction in which the directional conflict occurs is re-determined, and the scan in the direction in which the directional conflict occurs is re-executed. The forward contact relative angle position interval and the reverse contact relative angle position interval are re-established together with the updated scan position record and the valid scan position record retained in the other direction. After the two contact relative angle position intervals are re-established, the position records of the two historical detections that were completed before the re-establishment are cleared.

8. The method for identifying the joint gaps of a dexterous hand based on intelligent sensors as described in claim 7, characterized in that, The specific steps for determining the next relative angular position or re-determining the actual detected angular displacement based on whether the two intervals are completely separated, connected, or coincident, and the sequential relationship of the stable transmission state sides, are as follows: When the two intervals are completely separated, check whether there are still executable relative angle positions that have not yet completed double historical detection inside the forward contact relative angle position interval and the reverse contact relative angle position interval. If there are still executable relative angle positions inside at least one contact relative angle position interval, continue to process the contact relative angle position intervals that still have executable relative angle positions. If there are no executable relative angle positions that have not yet completed double historical detection inside either of the two contact relative angle position intervals, stop continuing to contract and enter the joint space range determination. When two intervals are connected or overlapped, and there are executable relative angle positions within the connected or overlapping range that have not yet completed double historical detection, the next relative angle position is limited to the connected or overlapping range. After one interval is updated, the connected or overlapping range is redefined and a relative angle position is selected for the other interval. When two intervals are connected or overlapped, and there are no executable relative angle positions within the connected or overlapping range that have not yet completed dual historical detection, the two contact relative angle position intervals stop contracting towards each other and enter the joint space range for determination. Along the direction of increasing relative angular position between input and output, the stable transmission state endpoint of the reverse contact relative angular position interval should be located before the stable transmission state endpoint of the forward contact relative angular position interval. When the stable transmission state endpoint of the reverse contact relative angular position interval is located after the stable transmission state endpoint of the forward contact relative angular position interval, it is determined that the order of the stable transmission state endpoints is reversed. The most recent interval update is cancelled, the actual detection angular displacement in the reversed direction is re-determined, the scan in the reversed direction is re-executed, and the updated scan position record and the retained valid scan position record in the other direction are used to re-establish two contact relative angular position intervals. After re-establishing two contact relative angular position intervals, the position records of the double historical detection completed before the re-establishment are cleared.

9. The method for identifying the joint gaps of a dexterous hand based on intelligent sensors as described in claim 8, characterized in that, The specific steps for determining the joint gap range based on the positive contact relative angular position range and the negative contact relative angular position range are as follows: When the two contact relative angle position intervals are completely separated, the angle difference between the free clearance side endpoint of the positive contact relative angle position interval and the free clearance side endpoint of the negative contact relative angle position interval is taken as the smaller boundary of the joint clearance range, and the angle difference between the stable transmission state side endpoint of the positive contact relative angle position interval and the stable transmission state side endpoint of the negative contact relative angle position interval is taken as the larger boundary of the joint clearance range. When two contact relative angle position intervals are connected or coincident, the smaller boundary is determined to be zero, while the larger boundary is still determined by the angle difference between the stable transmission state side endpoint of the positive contact relative angle position interval and the stable transmission state side endpoint of the negative contact relative angle position interval.

10. The method for identifying the joint gaps of a dexterous hand based on intelligent sensors as described in claim 9, characterized in that, The verification is performed by moving from the forward and reverse stable transmission states in opposite directions. If they are consistent in both directions, the joint clearance range is output. If they are inconsistent in one direction, the range is updated and the detection is repeated. If they are inconsistent in both directions, the actual forward and reverse detected angular displacements are re-determined. The specific steps are as follows: Re-execute the reverse scan and forward scan to form the forward verification contact relative angle position interval and the reverse verification contact relative angle position interval; When two intervals in the same direction are connected or overlap, the range between the larger position of the two smaller endpoints and the smaller position of the two larger endpoints is taken as the common part. The overlap of endpoints is considered to have a common part. When two verified contact relative angle position intervals have a common part with the current contact relative angle position interval in the same direction, the forward contact relative angle position interval and the reverse contact relative angle position interval are updated with the common part. When the order of the endpoints on the stable transmission state side is not reversed and there are no new executable relative angle positions in the updated interval, the joint clearance range is redefined and output. When there are still executable relative angle positions that have not yet completed the double historical detection, they are re-detected and bidirectional verification is performed again. When there is only one direction without a common part, the common part is retained in the verification of the consistent direction, and the range of the minimum and maximum positions of the four endpoints of the two intervals is formed by the minimum and maximum positions of the smallest and maximum positions of the intervals and the intervals are updated. After re-probing, bidirectional verification is performed again. When there is no common part in both directions, the actual forward and reverse angular displacements are redefined, the reverse and forward scans are re-executed, the relative angular position intervals of forward and reverse contact are re-established, the dual historical detection is re-implemented, and bidirectional verification is performed again.

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