The invention discloses a quick-change heterogeneous end
effector integrated on a collaborative
robot and a control method of the quick-change heterogeneous end
effector, and relates to the technical field of
rehabilitation physiotherapy. By adopting the combination of the six-dimensional
force sensor and the stereoscopic vision depth camera, rapid switching of multiple physiotherapy
modes is realized, and the accuracy and diversity of the physiotherapy process are improved. The probe design refers to finger pressing, palm pressing, hand pinching and other actions of professional physiotherapy doctors,
contact force stability is ensured, the accuracy and comfort of the physiotherapy process are ensured, meanwhile, real-time monitoring is conducted, and physiotherapy parameters are automatically adjusted according to the physical state and requirements of a patient. And by adopting the six-dimensional
force sensor and the calibration zero setting technology, the accuracy of force feedback and the
signal stability are remarkably improved, and the
physical therapy effect is prevented from being influenced by external interference. And rapid replacement and efficient operation of the probe are achieved, the multifunctionality of the collaborative
robot is improved, and the service life of the collaborative
robot is prolonged. The
physical therapy effect is guaranteed, meanwhile, the working intensity of
physical therapy doctors is effectively relieved, and wide application prospects and
clinical value are achieved.