CN104308844A - Somatosensory control method of five-finger bionic mechanical arm - Google Patents
Somatosensory control method of five-finger bionic mechanical arm Download PDFInfo
- Publication number
- CN104308844A CN104308844A CN201410421857.0A CN201410421857A CN104308844A CN 104308844 A CN104308844 A CN 104308844A CN 201410421857 A CN201410421857 A CN 201410421857A CN 104308844 A CN104308844 A CN 104308844A
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- gesture
- fingers
- bionic mechanical
- body sense
- mechanical hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a somatosensory control method of a five-finger bionic mechanical arm. The somatosensory control method of the five-finger bionic mechanical arm comprises the following steps: (1) acquiring a somatosensory image by using somatosensory equipment; (2) analyzing the somatosensory image by using a computer programme, finding a gesture and judging the gesture; (3) setting a control command corresponding to the somatosensory gesture by using a singlechip; (4) carrying out an appointed operation by the five-finger bionic mechanical arm according to the control command of the singlechip. According to the invention, a control method, in which the somatosensory gesture image is taken as an input signal, is designed; by the method, fingers of the five-finger bionic mechanical arm can be controlled to carry out real-time operation according to the somatosensory gesture.
Description
Technical field
The present invention relates to a kind of method for controlling robot, the specific design the five fingers bionic mechanical hand control mode being input signal with body sense images of gestures, the finger that can manipulate manipulator according to the action in real time of body sense gesture, can belong to field of intelligent control.
Background technology
Along with the development of robot application technology, the complexity of robot manipulating task task also constantly increases thereupon.The five fingers bionic mechanical hand, as a class robot terminal operating means, has multiple degrees of freedom, refers to coordinate more, the strong feature of flexibility, in each generic task with dexterous and meticulous requirement, obtain extensive use.
Current the five fingers bionic mechanical hand control method adopts mandatory manipulation usually, and namely operating personnel are by computer or other control appliance directly to the instruction of the five fingers bionic mechanical hand sending action, and manipulation the five fingers bionic mechanical hand completes required movement.This control mode is simple, but the five fingers bionic mechanical hand cannot be made to carry out corresponding actions with reference to the true gesture of the mankind.In order to allow the gesture motion of the real-time copy operation personnel of the five fingers bionic mechanical hand, one class control mode makes operating personnel bring data glove on hand, the gesture information of data glove acquisition operations personnel is as control inputs signal, then by computer or other control appliance, operating personnel's gesture is differentiated, then send the control instruction of corresponding manipulation personnel gesture to the five fingers bionic mechanical hand, thus handle the gesture motion of the five fingers bionic mechanical hand simulated operation personnel.Although this kind of control mode achieves the real-time imitation of the five fingers bionic mechanical hand to operating personnel's gesture, data glove operates inconvenience and cost intensive, in practicality and popularization, have larger limitation.
Summary of the invention
The present invention is directed to the limitation of current the five fingers bionic mechanical hand control mode, provide one with operating personnel's body sense images of gestures for input control signal, the finger of manipulation the five fingers bionic mechanical hand carries out the method for controlling robot of action in real time according to body sense gesture.
Technical scheme of the present invention is: a kind of body sense control method of the five fingers bionic mechanical hand, and the method comprises the following steps: (1) is by body sense equipment acquisition volume sense image; (2) utilize computer program analysis body sense image, find gesture and carry out gesture differentiation; (3) control instruction that single-chip microcomputer setting body sense gesture is corresponding is used; (4) the five fingers bionic mechanical hand is according to the control instruction of single-chip microcomputer, completes the action of specifying.The control mode that it is input signal that the present invention devises with body sense images of gestures, the finger that can manipulate the five fingers bionic mechanical hand carries out action in real time according to body sense gesture.
Preferred version: adopt Leap Motion as body sense equipment acquisition volume sense images of gestures, the image of collection is transferred to computer by USB interface.
Preferred version: by the predefined three kinds of body sense gesture-type of computer program, be respectively: the five fingers are clenched fist (gesture A), forefinger stretches out all the other four fingers and to clench fist (gesture B) and its excess-three of thumb forefinger looped-shaped bending refers to stretch out (gesture C).
Preferred version: find the gesture in body sense image by computer program, is judged its classification and arranges corresponding controling parameters, controling parameters value being sent to MSP430 single-chip microcomputer by UART serial ports.
Preferred version: MSP430 single-chip microcomputer arranges corresponding PWM ripple control instruction according to the controling parameters value received, and sends this instruction to manipulator.
Preferred version: the five fingers bionic mechanical hand, according to PWM ripple control instruction adjustment rudder set state, completes the finger movement of specifying.
Accompanying drawing explanation
Fig. 1 is the flow chart of the inventive method.
Fig. 2 is the computer program flow chart in the present invention.
Fig. 3 is the SCM program flow chart in the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, most preferred embodiment is described in detail.
Figure 1 shows that workflow diagram of the present invention.Step 10 starts, and step 11 adopts Leap Motion to gather images of gestures as body sense equipment, and the image of collection is transferred to computer by USB interface.Step 12 finds the gesture in body sense image by computer program, judge its type (i.e. predefined three kinds of body sense gesture-type of computer program, be respectively: the five fingers are clenched fist (gesture A), forefinger stretches out all the other four fingers and to clench fist (gesture B) and its excess-three of thumb forefinger looped-shaped bending refers to stretch out (gesture C)) and corresponding controling parameters is set, controling parameters value sent to MSP430 single-chip microcomputer by UART serial communication, detailed process is shown in Fig. 2.In step 13, MSP430 single-chip microcomputer arranges corresponding PWM ripple control instruction according to the controling parameters value received, and sends this instruction to manipulator, and detailed process is shown in Fig. 3.In step 14, the PWM ripple control instruction adjustment rudder set state that the five fingers bionic mechanical hand sends according to step 13, completes the finger movement of specifying.Step 15 is done states.
Figure 2 shows that computer disposal subprogram flow chart of the present invention.Step 1200 starts.In step 1201, the image that computer is collected by USB interface reception Leap Motion.Step 1202 judges whether image is gesture A, if yes then enter step 1203, otherwise enters step 1204.Controling parameters is set to parameter value corresponding to gesture A by step 1203, then enters step 1208.Step 1204 judges whether image is gesture B, if yes then enter step 1205, is not, enters step 1206.Controling parameters is set to parameter value corresponding to gesture B by step 1205, then enters step 1208.Step 1206 judges whether image is gesture C, if yes then enter step 1207, otherwise represents that gathering image is not included in predefined three kinds of gestures, forwards step 1201 to, Resurvey body sense images of gestures.Controling parameters is set to parameter value corresponding to gesture C by step 1207, then enters step 1208.Step 1208 sends controling parameters value with UART serial interface communication mode to single-chip microcomputer.Step 1209 is done states.
Figure 3 shows that single-chip microcomputer processing section of the present invention program flow diagram.Step 1300 starts.Step 1301, the controling parameters value that MSP430 single-chip microcomputer is sent by UART serial ports receiving computer, sends into step 1302.Step 1302 judges whether the controling parameters value received is the parameter value that gesture A is corresponding, if yes then enter step 1303, otherwise enters 1304.In step 1303, single-chip microcomputer arranges corresponding PWM ripple instruction according to the parameter value of the gesture A received, and then enters step 1308.Step 1304 judges whether the controling parameters value received is the parameter value that gesture B is corresponding, if yes then enter step 1305, otherwise enters 1306.In step 1305, single-chip microcomputer arranges corresponding PWM ripple instruction according to the parameter value of the gesture B received, and then enters step 1308.Step 1306 judges whether the controling parameters value received is the parameter value that gesture C is corresponding, if yes then enter step 1307, otherwise does not receive effective control parameter value from single-chip microcomputer, forwards step 1301 to, again receives controling parameters value.Step 1307, single-chip microcomputer arranges corresponding PWM ripple instruction according to the parameter value of the gesture C received, and then enters step 1308.Step 1308 is done states.
Claims (6)
1. a body sense control method for the five fingers bionic mechanical hand, the steps include:
(1) by body sense equipment acquisition volume sense image;
(2) utilize computer program analysis body sense image, find gesture and carry out gesture differentiation;
(3) control instruction that single-chip microcomputer setting body sense gesture is corresponding is used;
(4) the five fingers bionic mechanical hand is according to the control instruction of single-chip microcomputer, completes the action of specifying.
2. the body sense control method of a kind of the five fingers bionic mechanical hand according to claim 1, it is characterized in that: in (1), adopt Leap Motion as the body sense equipment acquisition volume sense images of gestures of the five fingers bionic mechanical hand control system, transfer to computer by logical for the image of collection.
3. the body sense control method of a kind of the five fingers bionic mechanical hand according to claim 1, it is characterized in that: in (2), by the predefined three kinds of body sense gesture-type of computer program, be respectively: the five fingers are clenched fist (gesture A), forefinger stretches out all the other four fingers and to clench fist (gesture B) and its excess-three of thumb forefinger looped-shaped bending refers to stretch out (gesture C).
4. the body sense control method of a kind of the five fingers bionic mechanical hand according to claim 1, it is characterized in that: in (2), find the gesture in body sense image by computer program, judge its classification and corresponding controling parameters is set, controling parameters value is sent to single-chip microcomputer.
5. the body sense control method of a kind of the five fingers bionic mechanical hand according to claim 1, is characterized in that: in (3), and single-chip microcomputer arranges corresponding PWM ripple control instruction according to the controling parameters value received, and sends this instruction to manipulator.
6. the body sense control method of a kind of the five fingers bionic mechanical hand according to claim 1, is characterized in that: in (4), and the five fingers bionic mechanical hand, according to PWM ripple control instruction adjustment rudder set state, completes the finger movement of specifying.
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| CN201410421857.0A CN104308844A (en) | 2014-08-25 | 2014-08-25 | Somatosensory control method of five-finger bionic mechanical arm |
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| CN201410421857.0A CN104308844A (en) | 2014-08-25 | 2014-08-25 | Somatosensory control method of five-finger bionic mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105260029A (en) * | 2015-11-24 | 2016-01-20 | 哈尔滨工业大学 | Humanoid hand structure achieving method based on human hand movement function reproduction |
| CN105291084A (en) * | 2015-11-03 | 2016-02-03 | 三峡大学 | Leap motion parallel mechanical arm based on Leap Motion and operation method and control system of leap motion parallel mechanical arm |
| CN106041967A (en) * | 2016-07-19 | 2016-10-26 | 彭爽 | Control device of bionic manipulator |
| CN108127673A (en) * | 2017-12-18 | 2018-06-08 | 东南大学 | A kind of contactless robot man-machine interactive system based on Multi-sensor Fusion |
| CN108549490A (en) * | 2018-05-03 | 2018-09-18 | 林潼 | A kind of gesture identification interactive approach based on Leap Motion equipment |
| CN114083544A (en) * | 2022-01-21 | 2022-02-25 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291084A (en) * | 2015-11-03 | 2016-02-03 | 三峡大学 | Leap motion parallel mechanical arm based on Leap Motion and operation method and control system of leap motion parallel mechanical arm |
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| CN108127673A (en) * | 2017-12-18 | 2018-06-08 | 东南大学 | A kind of contactless robot man-machine interactive system based on Multi-sensor Fusion |
| CN108549490A (en) * | 2018-05-03 | 2018-09-18 | 林潼 | A kind of gesture identification interactive approach based on Leap Motion equipment |
| CN114083544A (en) * | 2022-01-21 | 2022-02-25 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
| CN114083544B (en) * | 2022-01-21 | 2022-04-12 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
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Application publication date: 20150128 |