20029 results about "Robot hand" patented technology

The invention discloses a manipulator grabbing planning system and method based on visual identification, and relates to the technical field of robots, the manipulator grabbing planning system comprises a visual perception module, a coordinate conversion module, a motion planning module, a control execution module, a tail end perception module and a system integration and communication module; the visual perception module realizes multi-view target detection, semantic segmentation and three-dimensional pose estimation through a binocular depth camera; the coordinate conversion module is used for converting a target pose under a camera coordinate system into a world coordinate under a mechanical arm base coordinate system; the motion planning module is responsible for generating a mechanical arm grabbing path, optimizing a strategy and supporting generalization migration of a multi-form mechanical arm; the control execution module drives the six-axis cooperative mechanical arm to complete the grabbing action, and vision-force mixed feedback closed-loop control is achieved. The tail end sensing module monitors the grabbing state in real time through a touch sensor and dynamically adjusts a grabbing strategy; and the system integration and communication module is used for realizing real-time data interaction and cooperative work among the modules of the system.

The invention discloses a vision-based composite robot hand-eye calibration and workpiece positioning device and method. The method comprises the following steps: S1, performing camera calibration and end tool TCP calibration on two cameras according to a preset operation height; s2, the mechanical arm is controlled to reach a calibration position, and image data of hand-eye calibration are collected; the tail end of the mechanical arm tool is controlled to reach the characteristic point position of the checkerboard calibration plate, and characteristic point data of hand-eye calibration are collected; calculating hand-eye calibration parameters based on the image data and the feature point data; and S3, the mechanical arm is demonstrated to reach the workpiece grabbing pose, the camera in the box collects the checkerboard image and the Aruco two-dimensional code image before and after demonstration, and station calibration parameter calculation is carried out. Hand-eye calibration is completed in a simpler, more convenient and quicker mode, the problem that the vision-guided workpiece grabbing precision is reduced due to movement of the chassis is solved, and meanwhile post-processing is conducted on subsequent workpiece grabbing poses.

The invention relates to the technical field of automatic loading and logistics control, in particular to an automatic powder loading device based on visual identification, which comprises a visual identification module, a flexible grabbing module, a transfer module and a stacking module, the form, internal distribution and material characteristic data of the powder bag are obtained through a multi-mode sensor, a grabbing path is generated, and grabbing operation is completed through a flexible manipulator; the transfer module dynamically adjusts the transportation state of the powder bag in combination with path optimization and posture monitoring; the stacking module monitors stress of a stacking layer in real time on the basis of the stacking thermal distribution diagram, adjustment suggestion data are generated, stacking position and angle optimization is completed through a self-correction unit, and the stability of a stacking structure is ensured; the powder loading efficiency, the stacking precision and the long-term stability are remarkably improved, and the method is suitable for efficient logistics management of complex loading scenes.

An assembly apparatus, comprising a first loading device (10), a second loading device (20) and a manipulator (30). The first loading device (10) comprises a first positioning platform (11), a first carrier (12) and a first carrying mechanism (13), wherein the first positioning platform (11) is used for positioning a first workpiece; the first carrier (12) has a first positioning identifier (123); and the first carrying mechanism (13) can carry the first carrier (12) to the first positioning platform (11) so as to suction the first workpiece. The second feeding device (20) comprises a second positioning platform (21), a second carrier (22), a conveying mechanism (23) and a second carrying mechanism (24), wherein the second positioning platform (21) is used for positioning a second workpiece; the second carrier (22) has a second positioning identifier (223); the second carrying mechanism (24) can carry the second workpiece to the second carrier (22), and can adjust the position of the second workpiece relative to the second positioning identifier (223) according to a positional relationship between the first workpiece and the first positioning identifier (123); and the conveying mechanism (23) can convey the second carrier (22) to an assembly station (A). The manipulator (30) is used for carrying to the assembly station (A) the first carrier (12) onto which the first workpiece is suctioned, so that the first carrier (12) is fitted with the second carrier (22), and thus the second workpiece is aligned and assembled with the first workpiece. The assembly apparatus can improve the alignment precision of workpieces and thus achieve precise assembly.

The invention relates to the technical field of visual automatic calibration, and discloses a joint manipulator automatic calibration method and device based on a visual system. The method comprises the following steps: carrying out multi-view image acquisition on a joint manipulator of the five-axis robot to obtain original image data; performing occlusion region extraction on the original image data to obtain a joint occlusion region set; on the basis of the joint occlusion region set, disordered image splicing and mark point feature extraction are carried out on the original image data, and joint feature image data are obtained; constructing an adaptive calibration equation based on the joint feature image data, and solving a target transformation relation between a global visual coordinate system and a local visual coordinate system; multi-joint collaborative calibration and joint chain constraint optimization of the five-axis robot are executed according to the target transformation relation, and joint error correction parameters are generated, high-precision joint error correction parameter calculation is achieved, and the positioning precision and the movement precision of a joint manipulator of the five-axis robot are greatly improved.

The present invention relates to a coal mine intelligent directional drill and its drilling method, belonging to the technical field of coal mine drills. It comprises a moving platform, machine frame, clamper, main manipulator, power head, drill pipe storage system, control system, and hydraulic system. The power head structure is improved by adding an angle adjuster with accurate angle adjustment, locking, and anti-rotation functions. The angle adjuster is positioned on the gearbox side opposite the main motor, connected via a driving shaft. The control system includes a toolface azimuth detection and initialization system that works with the angle adjuster. This solves prior issues such as the absence of specialized toolface azimuth adjustment devices, low precision, low track adjustment efficiency, and challenges in achieving automatic directional drilling in the prior art. The invention enhances precision and efficiency, enabling automated, intelligent directional drilling.

The invention provides a method and a system for controlling a stable grasping force threshold value of a vibration manipulator for a camellia oleifera tree and the manipulator, and relates to the field of technical mechanical engineering and automatic control. The stable grasping force threshold value of the vibration manipulator for the camellia oleifera tree is obtained by obtaining a surface friction coefficient of the camellia oleifera tree, determining a damage threshold value, measuring a claw finger opening angle and clamping pressure when the manipulator works, and determining a clamping pressure range; the maximum pressure, the minimum pressure and the equivalent pressure are calculated, the clamping pressure of the mechanical arm is adjusted, the natural frequency and the maximum dynamic displacement response of the mechanical arm claw fingers are obtained, the claw finger opening angle and calculation data are adjusted based on the natural frequency and the maximum dynamic displacement response, and it is ensured that the grabbing force index is smaller than the damage threshold value through iterative adjustment. Mechanical simulation and actual measurement data are comprehensively utilized, through feedback adjustment and fine control, the problems of mechanical arm abrasion and low efficiency caused by excessive pressure and load in the prior art are successfully solved, the service life of the mechanical arm is prolonged, and the production efficiency of the mechanical arm is improved.

The invention discloses a method and system for remotely operating a humanoid robot through a tracker and a data glove, and the method comprises the following steps: capturing the position and posture of a hand in a three-dimensional space based on the tracker, and taking the posture information of the tracker as the expected posture of the tail end of the humanoid robot; each joint angle of the mechanical arm is solved based on a Cartesian motion control inverse kinematics method, and the humanoid robot mechanical arm is controlled to move to the expected position and posture; the motion of the fingers is captured based on the data glove, the finger joint bending angle captured by the data glove is mapped to the manipulator joint of the humanoid robot, the joint angle of the manipulator is obtained, and the fingers of the manipulator of the humanoid robot are controlled to move to the specified angle position based on the joint angle of the manipulator. The posture of the hand and the movement of the fingers are mapped to the real humanoid robot on the basis of the tracker and the data glove, the flexible operation task of the two hands is completed, the intuition of remote operation is improved, and meanwhile the burden of a user is reduced.

The embodiment of the invention provides an optimization method and system for a manipulator control system, and the method comprises the steps: firstly obtaining an operation data set containing a control instruction sequence and corresponding motion state data in a historical operation period of a manipulator, carrying out the feature extraction of the operation data set, and obtaining an associated motion feature set; calling a pre-trained control strategy optimization model to analyze and generate strategy adjustment parameters, adaptively updating the control instruction sequence of the current operation task according to the strategy adjustment parameters to obtain a target control instruction sequence, and finally inputting the target control instruction sequence into a control system to execute operation. And real-time motion state data is collected for subsequent iterative optimization, so that the performance of the manipulator control system can be continuously improved, and the operation precision and efficiency are improved.

The invention relates to the technical field of automatic equipment, and particularly discloses an EBL cooperative manipulator which comprises two multi-axis mechanical arms, a plurality of mechanical claws, a workbench and a flower basket transferring manipulator. The basket transfer manipulator is used for carrying baskets; the plurality of mechanical claws comprise a positioning claw, a fastening claw, a drawing claw, a sucking claw and a tray claw; after the two multi-axis mechanical arms are connected with the different mechanical claws respectively, the first cooperative operation and the second cooperative operation can be carried out, and fixing of the wafer and the silicon wafer is achieved. Therefore, according to the EBL cooperative manipulator provided by the scheme, different mechanical claws can be switched according to different operation requirements, fine operation such as substrate placement and position adjustment and heavy physical operation such as basket transfer can be carried out, the working intensity of workers can be reduced, and the working efficiency is improved. Meanwhile, the possibility that precise and expensive parts on the equipment are damaged is reduced, and the psychological burden of scientific researchers on ELB equipment operation is reduced.

The invention relates to the field of grinding and polishing, in particular to an automobile spoiler mechanical arm grinding system and method.The automobile spoiler mechanical arm grinding system comprises a path planning module, a state monitoring module, a parameter compensation module and a waste collecting module which are in communication connection, and the path planning module is used for scanning a spoiler in real time through a visual sensor and dynamically adjusting a grinding path; the visual sensor is a 3D structured light sensor or a stereoscopic visual camera; the state monitoring module is used for monitoring the vibration state of the grinding head in real time through the vibration sensor and obtaining vibration abnormal data. The parameter compensation module is used for automatically adjusting grinding parameters according to the abnormal vibration data and adjusting a grinding head for grinding; the waste collecting module is used for collecting and treating dust and waste generated in the polishing process in a centralized mode. The polishing path can be precisely planned, the polishing quality is improved, the production efficiency is improved, the cost is reduced, and dust and waste materials are effectively treated.

A method for minimizing deviations between a target and an actual pose of an autonomous charging device manipulator, adapted to connect a charging connector to an electric vehicle socket, comprising: obtaining a compensation function covering at least a part of a workspace of the manipulator, the compensation function utilizing a relationship between at least one motion command and a corresponding actual pose, and operating the manipulator based on the obtained compensation function such that the resulting actual pose minimally deviates from the target pose, wherein the relationship between at least one motion command and a corresponding actual pose is obtained by a method comprising an image acquisition device attached to a moving part of the manipulator to acquire an image containing a visible fiducial marker placed at a referential pose; instructing the manipulator to move to acquire an image of the fiducial marker; using the image to determine the relative pose of the fiducial marker with respect to the image acquisition device; computing the actual pose of the moving part of the manipulator using the referential pose and the determined relative pose of the fiducial marker with respect to the image acquisition device; and fitting a template function that relates the at least one motion command to the computed actual pose.

The present invention belongs to the technical field of wafer cleaning and particularly relates to a multi-station wafer cleaning system. The device comprises: a plurality of loading devices, wherein a plurality of layer plates are arranged in the loading devices, and the layer plates are suitable for holding uncleaned wafer bodies; a transfer device slidably arranged on a side of the loading devices, wherein the transfer device comprises a transfer manipulator and a transfer workbench, and the transfer manipulator is suitable for clamping the wafer bodies in the loading devices to the transfer workbench; a delivery device comprising a delivery manipulator arranged on a side of a transfer unit by means of a three-axis moving pair; and a plurality of cleaning devices respectively arranged on two sides of the delivery device, wherein the cleaning devices are divided into four groups, two groups of cleaning devices are arranged on each side of the delivery device, and each group of cleaning devices has two cleaning devices in a stacked manner. By arranging a plurality of cleaning devices stacked in each group of cleaning devices, a plurality of stations can be provided, and the cleaning efficiency of wafer bodies is improved.

The invention discloses a manipulator grabbing control system based on visual identification, and the system comprises a visual identification module which is used for collecting the three-dimensional form data and surface feature information of a target object, and eliminating the noise interference in an original image through preprocessing; the multi-modal fusion processor is used for receiving the three-dimensional form data and the surface feature information output by the visual recognition module, executing point cloud structured conversion on the three-dimensional form data, extracting geometric features of an object through a neural network, and meanwhile, performing weight distribution on the surface feature information by adopting a feature attention mechanism to complete multi-feature fusion processing; according to the multi-axis cooperative manipulator provided with the end executor, the end executor integrates a touch sensing assembly used for touch sensing and an adsorption execution device used for assisting grabbing. By integrating the technologies of visual identification, multi-modal fusion, intelligent optimization, dynamic feedback and the like, the sensing precision, the environmental adaptability and the grabbing reliability of the system to object characteristics are improved.

The invention relates to automatic foam pasting and external line shaping equipment for a PCBA. The automatic foam pasting and external line shaping equipment comprises a rack, a PCBA feeding assembly, a PCBA conveying line, a foam pasting assembly and a line folding assembly. The PCBA feeding assembly comprises a feeding multi-axis mechanical arm and a feeding vacuum suction nozzle. The foam attaching assembly comprises a foam attaching frame, a foam attaching mechanical arm, a foam attaching mechanical clamping jaw and a foam attaching vacuum suction head. The line folding assembly comprises a line folding transfer assembly and a line folding mechanism; the line folding mechanism comprises a line folding frame, a line folding positioning table, a line folding fixed clamping corner air cylinder, a line folding plate and a line folding turnover driving piece, and the line folding turnover driving piece drives the line folding plate to rotate. The foam attaching manipulator of the foam attaching assembly is matched with the PCBA conveying line to achieve automatic foam attaching on the PCBA, and the efficiency is high; according to the line folding mechanism, the pins are automatically bent into the L shape through the overturned line folding plate, the foam is clamped between the pins and the PCBA, and the foam cannot be damaged by interference of the line folding plate in the whole process.

The invention provides a medicine dispensing machine which comprises a frame, and a medicine bottle box for storing ampoule bottles and penicillin bottles, a liquid bag box for storing liquid bags and a suction and injection device hanging frame for conveying suction and injection devices are arranged in the frame. An ampoule bottle opening device for opening an ampoule bottle, a penicillin bottle cover opening device for opening a bottle cover of the penicillin bottle, a penicillin bottle liquid medicine mixing device for mixing and uniformly shaking liquid medicine injected into the ampoule bottle, and a marking device for marking a liquid bag injected with the mixed liquid medicine are arranged in the frame; the frame is internally provided with a sucking and injecting manipulator which is used for clamping a sucking and injecting device and sucking and injecting liquid medicine of an ampoule bottle into a penicillin bottle, all the devices are transferred through a transferring manipulator, full-automatic medicine dispensing is carried out, and the medicine dispensing efficiency is improved.

The invention discloses a manipulator for carrying automobile sheet metal parts, and relates to the technical field of manipulators, the manipulator comprises a supporting base, a mechanical arm and a plurality of suckers, the mechanical arm is mounted at the top of the supporting base, a U-shaped plate is mounted at the end, away from the supporting base, of the mechanical arm, and a supporting plate is fixedly connected to the lower end of the U-shaped plate; the supporting plate is provided with an adjusting assembly for automatically adjusting the height of the suction cups according to the automobile door frame, the adjusting assembly comprises limiting springs arranged on the outer surfaces of the suction cups in a sleeving mode, the middle of the U-shaped plate is hollow, and adjustment can be rapidly conducted according to the concave-convex condition of the door frame through the suction cups capable of being adjusted up and down; the time for manual intervention or readjustment due to the fact that the suction cups are not matched with the automobile door frame is shortened, the situation that adsorption is not stable due to the fact that the suction cups do not effectively make contact with the automobile door frame is avoided, and the phenomenon that abrasion occurs due to too large pressure when only a small number of suction cups are matched with clamping jaws to grab the automobile door frame is avoided; and the universality and the application range of the sucker type manipulator are improved.

The invention relates to the technical field of manipulator control, in particular to a multi-dimensional force touch sense self-adaptive grabbing dexterous hand control system and a multi-dimensional force touch sense self-adaptive grabbing dexterous hand control method. The control system comprises an upper computer, a dexterous hand master controller module, a finger controller module, a three-dimensional force tactile sensor module and an actuator module, wherein the finger controller module, the three-dimensional force tactile sensor module and the actuator module are independently configured for each finger of the dexterous hand; wherein the dexterous hand master controller receives an instruction of an upper computer and generates a control instruction corresponding to each finger; the three-dimensional force tactile sensor monitors contact data of a finger and an object; the finger controller calculates target positions of the servo motor at different time points based on the control instruction, the contact data and actuator state feedback, and generates a third control instruction; and after receiving the instruction, the actuator module adjusts the position of a servo motor to ensure that the dexterous hand completes self-adaptive grabbing according to a preset track and force. The grabbing force and speed of the dexterous hand can be adjusted in a self-adaptive mode according to different conditions, and the accuracy and stability of the grabbing action are ensured.

The invention belongs to the technical field of multi-stage centrifugal pump production, and particularly relates to an automatic production line for assembling a pump cover of a multi-stage centrifugal pump, which mainly comprises a lifting type turnover assembly, a first extrusion assembly, a second extrusion assembly, a strake pushing manipulator and an inner supporting piece feeding assembly, for a reinforced pump cover composed of a pump cover piece, an inner supporting piece and an outer hoop piece, a pump cover blank is adsorbed through a lifting type overturning assembly and is driven to overturn around the axis of the pump cover blank, and a first extrusion assembly and a second extrusion assembly are jointly used for sequentially extruding, forming and machining the pump cover blank into a pump cover semi-finished product and the pump cover piece; the second extrusion assembly is matched with the strake pushing mechanical arm to additionally install multiple circles of outer strake pieces on the outer side of the pump cover piece, the inner supporting piece feeding assembly is used for additionally installing an inner supporting piece on the inner side of the pump cover piece which moves to the second station, in this way, automatic assembling of the reinforced pump cover can be achieved, the reinforced pump cover keeps the advantage of light weight, and meanwhile the assembling efficiency is improved. The compressive strength and the overall rigidity are qualitatively improved.

The utility model relates to the technical field of laser cutting equipment, and discloses an interactive double-platform laser cutting machine which comprises a lathe bed which is a bearing part for laser cutting, and a power distribution cabinet is arranged on one side of the lathe bed. And the cutting head assembly is of a portal structure and is provided with a multi-axis moving system, and the cutting path is controlled by a power distribution cabinet. The first cutting platform is in sliding fit with the first layer of the lathe bed through a linear sliding assembly. The second cutting platform is arranged on the second layer of the lathe bed in a sliding fit mode through a linear sliding assembly. Due to the arrangement of the universal ball, during feeding, an operator or a feeding mechanical arm places materials on the objective table, at the moment, the plates are only in contact with the universal ball under the support of the universal ball, so that the plates can be prevented from being scratched and damaged with the partition plate when moving to be close to the positioning guiding rule and the positioning block, and therefore, the plates are prevented from being scratched and damaged by the partition plate when moving to be close to the positioning guiding rule and the positioning block. And plate surface scratches caused by plate movement during soft metal plate processing can be effectively reduced.

The invention relates to a bionic multi-finger underwater manipulator device, a control system, a grabbing strategy and a target identification method.The manipulator is mainly composed of a flange plate and an under-actuated mechanical finger of a seven-connecting-rod mechanism, and the mechanical finger comprises a base, a triangular piece, a fingertip piece and a sliding block; two corners of the triangular piece are connected with the fingertip piece and the sliding block through connecting rod mechanisms respectively, the third corner of the triangular piece is connected with the base through a trapezoidal connecting piece, the sliding block is driven by a threaded linear long-axis motor, a magnetic touch sensor is arranged in a fingertip, and the magnetic touch sensor receives fingertip touch information through a fingertip receptor unit made of a magnetic powder silica gel mixture. The device is controlled by a control system comprising a microprocessor, naturally adapts to objects with different shapes and sizes by formulating corresponding adaptive force grabbing strategies, and classifies and identifies underwater objects through a deep learning algorithm. Compared with the prior art, the method has the advantages of high sensitivity, interference resistance and the like, and has the capabilities of tactile perception recognition and self-adaptive grabbing.

The invention relates to the technical field of grabbing manipulators, and discloses a self-adaptive grabbing device for a special-shaped curved surface workpiece, which comprises a central bearing base made of a light metal material and provided with a multifunctional quick connector at the top; the central adsorption module is fixed at the central position of the bottom of the central bearing base and comprises an air pressure balance pipeline communicated with an external air source; by means of radial adjustment of the cross shaft and cooperation of the elastic buffering structure and the vertical guiding assembly, high-precision centering and stable adsorption are achieved, vertical contact of the suction cup is ensured through vertical guiding, the suction cup is suitable for different curved surface radians, and the stable adsorption force under the small area is kept; and electric control connection supports installation, namely electrification, and is suitable for automatic precise grabbing.

The invention relates to the field of intelligent industry, and discloses a visual robot hand-eye calibration method based on a circular hole calibration plate, which takes the circle center of a calibration plate circular hole as a fixed point as a constraint, establishes a hand-eye calibration model combined with robot kinematics parameters, and performs a contrast experiment with a traditional standard ball method under the same experiment platform. After a calibration result is obtained, a certain high-precision plane is scanned with reference to a flatness error evaluation method, a point cloud of the plane is obtained, the distance root-mean-square error between the point cloud and the least square fitting plane is calculated, and the distance root-mean-square error serves as an evaluation parameter of the hand-eye relation calibration precision. According to the method, the position coordinates of the fixed points in the space are collected more accurately under the on-line laser coordinate system, and kinematics parameters of the robot are incorporated into the hand-eye calibration model, so that the root-mean-square error of plane measurement can be reduced, and the superiority of the method is verified.

The invention relates to the field of machining tool tables, and discloses an automatic female needle assembling machine which is used for installing a female needle to a plastic shell and comprises a rack, the rack comprises an operation table and a protective cover, the protective cover is arranged on the operation table, and an operation space is formed between the protective cover and the operation table; the protective cover comprises a safety door capable of being opened and closed, the safety door comprises a door plate, a safety sensor and a door lock, the safety sensor and the door lock are both arranged on the door plate, the door lock has locking force so that the safety door can be in a closed state, and when external force exceeding the locking force is used for opening the door plate, the door lock is locked. After the safety sensor detects that the position of the door plate is changed, the automatic female needle assembling machine is controlled to stop working; and the manipulator is positioned in the operation space and is positioned on the operation table.

The invention relates to the technical field of medical rehabilitation training, in particular to an intelligent hand training method and system, electronic equipment and a storage medium, and the method comprises the steps: receiving a training mode instruction selected by a user; real-time biomechanical data of the affected side hand are collected through a multi-source sensor array, the real-time biomechanical data comprise finger joint angles, electromyographic signal intensity and a touch pressure distribution matrix, and when the affected side hand is in a mirror image training mode, the six-degree-of-freedom motion trail of the uninjured side hand is synchronously collected; calling a corresponding algorithm model for processing based on the training mode, and generating a control instruction set containing pneumatic pressure parameters, electrical stimulation waveforms and virtual interaction instructions; the control instruction set is sent to a server side, a mechanical glove arranged on the hand of the affected side in a sleeving mode executes corresponding pneumatic-electric combined driving operation, and multi-sense feedback is synchronously presented. According to the application, the composite requirements of patients in different rehabilitation stages on training mode diversity, control accuracy and interactive immersion can be met.

An automatic sample cutting method for shoe sole detection relates to the field of shoe sole detection equipment, and comprises a machine table, a shoe sole clamping mechanism, a numerical control milling cutter mechanism, a manipulator and a visual system, the shoe sole clamping mechanism comprises a shoe tree, a clamping cylinder and a clamping plate, and the shoe tree is inversely arranged on a working platform; the clamping cylinder pushes the clamping plate to move and clamps the shoe on the shoe tree; the numerical control milling cutter mechanism is arranged on the machine table and can cut shoe soles. The manipulator is arranged in the machine table to clamp the cut sample; the visual system comprises a visual camera and a controller, the visual camera is arranged at the end of the mechanical arm and can move along with the mechanical arm to collect marks on the shoe sole and feed back images to the controller, the controller controls the numerical control milling cutter mechanism to switch cutters and cut the shoe sole, and cutting and sampling of shoe sole samples can be rapidly completed. According to the shoe sole cutting device, only a small number of persons are needed to install and observe shoe soles beside the device, labor force is saved, some shoe soles made of firm materials can be rapidly cut, and working efficiency is improved.

A mechanical hand mimics a human hand having similar degrees of freedom and sensory abilities while appearing visually similar to human hand. The mechanical hand comprises a mechanical hand skeleton and resilient elastomer (e.g., silicone) skin that fully encloses the mechanical hand skeleton. The mechanical hand skeleton may advantageously be molded directly into the resilient elastomer (e.g., silicone) skin such that the hand appears, moves, and feels very similar to a real human hand. The mechanical hand may have applications in robotics, for example as an end-of-arm tool or end effector, or may have other applications. Robotic applications may include prosthetics applications.

The invention discloses a robust visual constraint control method and system for a mechanical arm and computer equipment, and the method comprises the steps: building an overall dynamic model of a visual servo system through combining a mechanical arm dynamic model, a visual servo kinematics model and a hand-eye calibration relation between a camera and the mechanical arm; in combination with a visual servo kinematic model, by designing a time-varying asymmetric control barrier function, a constraint satisfaction condition for constraining a visual servo characteristic error within a preset range is obtained, and an optimal visual servo speed controller is designed, and in combination with a robot dynamical model, an optimal visual servo speed controller is designed. A constraint satisfaction condition for constraining joint angular velocity within a preset range is obtained through a time-varying asymmetric control obstacle function, an optimal torque controller is designed in combination with a visual servo characteristic error constraint satisfaction condition, a torque control signal meeting performance constraint is obtained in combination with quadratic programming, and the robot is driven to reach an expected characteristic position. The success rate of a visual servo task is improved, and high-precision visual guide assembly work of the mechanical arm is achieved.

The invention discloses a manipulator clamping force control method and device based on motor driving, and relates to the field of intelligent manipulators. Comprising the following steps that the mass of a to-be-clamped object is obtained, and basic friction force is calculated; collecting object shape characteristic parameters such as the maximum boundary length, the outer surface area and the volume, and calculating a shape influence coefficient; then, acquiring surface characteristic parameters such as average curvature, irregularity and projection area, calculating a surface concave-convex coefficient, and generating a shape complexity index in combination with the shape influence coefficient; then, acquiring material characteristic parameters such as hardness and elastic modulus, determining and correcting a basic friction coefficient, and calculating friction force; and finally, the instantaneous speed of the clamping task of the manipulator is obtained, the impact load is calculated, the basic friction force is corrected based on the parameters, the accurate clamping force is obtained, and therefore the accurate control over the clamping force of the manipulator is achieved. According to the method, the clamping effect and safety are improved, and the method is suitable for various clamping scenes.

The invention discloses an immersive master-slave teleoperation anthropomorphic robot system with force feedback, a master end assembly comprises a seat, a master end control arm, a force feedback manipulator, a VR visual device, a data sensing glove and a master end controller, and the master end assembly is a master control end; the slave end assembly comprises a movable chassis, a movable trunk, a slave end mechanical arm, a slave end manipulator, a binocular camera and a slave end controller, and the slave end controller is in electric signal connection with the movable chassis, the movable trunk, the slave end mechanical arm, the slave end manipulator, the binocular camera, the six-dimensional torque sensor and the master end controller; the wireless controller is in electric signal connection with the master end controller and the slave end controller, the wireless controller has a slave end control mode and a force feedback teleoperation mode, and in the slave end control mode, the wireless controller controls the movable chassis to move; in the force feedback teleoperation mode, the master end control arm and the force feedback mechanical arm synchronously move with the slave end mechanical arm and the slave end mechanical arm correspondingly.