Six-Axis Arm-Hand Fusion Control via Neural Inverse Kinematics
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Solution Overview
Problem
Existing fusion systems of mechanical arms and dexterous hands lack effective joint control, particularly for four-degree-of-freedom mechanical arms combined with two-degree-of-freedom dexterous hand wrists, which limits their ability to perform fine operations independently.
Innovation Solution
A fusion system comprising a four-degree-of-freedom mechanical arm, a two-degree-of-freedom parallel mechanism dexterous hand wrist, and a dexterous hand, where the dexterous hand wrist is connected to the mechanical arm via an electronic circuit, and utilizes synchronous differential control with dual motors and push rods to achieve pitching motion and yaw rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a six or seven degrees of freedom mechanical arm plus an end claw or six or twelve degrees of freedom dexterous hand is used, then the robot can perform basic operations, but the mechanical arm and dexterous hand are controlled separately without joint control or arm-hand fusion control
Solution Approach 1:
The patent merges the control of the mechanical arm and dexterous hand into a unified control system. The controller integrates the six degrees of freedom of the mechanical arm with the two degrees of freedom of the dexterous hand wrist, achieving coordinated arm-hand fusion control. This combining approach enables joint control where the mechanical arm and dexterous hand operate as an integrated system rather than separate entities.
2Manufacturing precision
If the dexterous hand wrist is integrated with the mechanical arm to form a six-degree-of-freedom system, then fine operation capability is improved, but the three axes at the end are not orthogonal and there is no analytical solution for inverse kinematics
Solution Approach 1:
The patent replaces the traditional analytical inverse kinematics method with a neural network-based computational approach. The neural network is trained to learn the inverse kinematics mapping for the non-orthogonal six-degree-of-freedom system, providing a practical solution where analytical methods fail. This substitution enables precise control of the dexterous hand wrist while handling the complexity of non-orthogonal axes through machine learning rather than complex mathematical formulations.
3Manufacturing precision
If existing products like single-degree-of-freedom claws or six-degree-of-freedom under-driven dexterous hands are used, then device complexity is reduced, but the ability to imitate human hand for fine operation is insufficient
Solution Approach 1:
The patent applies local quality by concentrating the complexity in the dexterous hand wrist portion while keeping the mechanical arm relatively simple. The two-degree-of-freedom dexterous hand wrist with its parallel mechanism and dual motor configuration provides enhanced fine operation capability locally at the hand end, while the overall system maintains manageable complexity through this localized enhancement approach.
Data Source
AI summary
Provided are a fusion system of a mechanical arm and a dexterous hand, and a control method therefor. The fusion system comprises a four-degree-of-freedom mechanical arm, a dexterous hand wrist mounted at the tail end of the four-degree-of-freedom mechanical arm, and a dexterous hand mounted on the dexterous hand wrist, wherein the dexterous hand wrist is a single-joint spatial orthogonal two-degree-of-freedom wrist. In a motion control method, the fusion system of the four-degree-of-freedom mechanical arm and the dexterous hand is regarded as a six-axis series mechanical arm, and according to a joint angle, a position and an attitude of the tail end of the dexterous hand wrist can be obtained by means of a forward kinematics method; and according to the position and attitude of the tail end of the dexterous hand wrist, the joint angle can be obtained by means of an inverse kinematics numerical solution method, and then a control instruction is obtained and sent to a servo position controller, so as to drive the tail end of the dexterous hand wrist to reach a preset position and attitude. A six-degree-of-freedom series-parallel mechanism combining the mechanical arm and the dexterous hand wrist has multi-degree-of-freedom redundancy, such that rotation of the five-finger dexterous hand can be achieved without a wide-range motion of the mechanical arm.