CN104875210A - Dexterous hand master-slave control method capable of eliminating shake - Google Patents

Abstract

The invention discloses a dexterous hand master-slave control method capable of eliminating shake. The method comprises steps that a data glove acquires movement angles of each arthrosis of a human finger and transmit to a personal computer (PC); the PC maps movement, eliminates shake and solves the rotational direction of a stepped motor and the number of pulse to generate moment control signals according with the communication protocol data format between the PC and an integrated circuit board; and communication serial ports between the PC and the integrated circuit board are established, the PC transmits the movement control signals to the integrated circuit board through the communication serial ports, the integrated circuit board receives and transmits a rotational angle of a corresponding stepped motor to drive a YWZ dexterous hand to move in a master-slave mode. By adopting the dexterous hand master-slave control method capable of eliminating shake, open-loop control on a dexterous hand can be achieved, the complexity of closed-loop control can be avoided, accurate movement angles of each arthrosis of a human finger can be obtained, the dexterous hand can be accurately controlled to move, and good instantaneity and stability can be achieved.

Description

A kind of Dextrous Hand master-slave control method trembling process with disappearing

Technical field

The present invention relates to a kind of method for controlling robot, especially having relate to a kind of Dextrous Hand master-slave control method trembling process with disappearing.

Background technology

Dextrous Hand can simulate people's hand operated, in the high-risk environment such as deep-sea detecting, the battlefield removal of mines, the carrying of core material and space equipment maintenance, have great application prospect.But, the working environment that Dextrous Hand faces has high complexity and unpredictability, be subject to the restriction of artificial intelligence, automatically control and sensor technology, want its these complex environments of completely autonomous process and complete accurate operation, being one and having challenge and the task of being difficult in a short time realize.Dextrous Hand master-slave control method directly controls Dextrous Hand by staff, the various complex environments that may run into by the wisdom of human brain direct decision-making Dextrous Hand, remote control Dextrous Hand complete operation task, is method more feasible at present.Dexterous chirokinesthetic accuracy, real-time and stability weigh the leading indicator of Dextrous Hand master-slave control method.

First the master & slave control of Dextrous Hand needs the exercise data obtaining finger joint.The people such as Nakagawarsa adopt purchasing ore mechanism to achieve the metering of finger joint motions angle; The people such as Castellini obtain the movement angle in finger joint by surface electromyogram signal during measurement human hand movement; The people such as Margallo utilize data glove to obtain the movement angle in finger joint.Image-recognizing method also can obtain the movement angle in finger joint, but can't overcome the problem that staff is blocked.

Driver is the core component of Dextrous Hand master & slave control.By the installation site of driver, Dextrous Hand can be divided into externally positioned type Dextrous Hand and internally-arranged type Dextrous Hand.The driver of externally positioned type Dextrous Hand is arranged on Dextrous Hand outside, gives each finger-joint by tendon or V belt translation by power transmission.Such as, Standford/JPL hand (9 active frees degree, DC servo motor drives), Utah/MIT hand (12 initiatively frees degree, servo cylinder drives), Robonaut hand (14 initiatively frees degree, brshless DC motor drives) and Shadow hand (21 active frees degree, air muscle drives).The driver of internally-arranged type Dextrous Hand and drive disk assembly are arranged on finger and palm is inner, by Direct driver or gear drive, gives each finger-joint by power transmission.Such as, DIST hand (16 active frees degree, brshless DC motor drives), Gifu hand (16 initiatively frees degree, DC micromotor drives), BUAA hand (16 initiatively frees degree, servo direct current motor drives) and HIT/DLR II hand (15 active frees degree, brshless DC motor drives).

Because staff and Dextrous Hand also exist architectural difference, the Motion mapping of staff and Dextrous Hand is the key point of Dextrous Hand master & slave control.The people such as Rohling have developed purchasing ore EXOSHandmaster system, achieve the Utah/MIT Dextrous Hand master & slave control that servo cylinder drives; The people such as Liu, by data glove, achieve the BIT hand Dextrous Hand master & slave control that air muscle drives; The people such as Mouri, by force feedback purchasing ore gloves, achieve the Gifu III Dextrous Hand master & slave control that DC micromotor drives ^[14,15]; The people such as Vogel, by surface myoelectric measuring method, achieve the DLR LWR-III Dextrous Hand master & slave control that brshless DC motor drives.

Can draw from above-mentioned analysis, the exercise data in current finger joint obtains mainly through purchasing ore mechanism, surface electromyogram signal and data glove.The driver of Dextrous Hand mainly contains direct current generator, servo cylinder and air muscle etc.Scholars are just attempting by the various combination between Dextrous Hand driver and finger joint motions data capture method, and master & slave control Dextrous Hand is moved, to realize preferably motion accurately, real-time and stability.

Owing to being subject to the restriction of artificial intelligence, automatically control and sensor technology in prior art, it is still very difficult that Dextrous Hand realizes completely autonomous operation under unstructured moving grids.And in research process, find that the frequency acquisition of data glove is high, sensor is very sensitive and finger can involuntary shake, cause the fluctuation of movement of finger joint angle, cause stepper motor galloping, and then have impact on the stability that Dextrous Hand captures object, therefore also need to carry out disappearing trembling process at master & slave control.

Summary of the invention

In order to solve Problems existing in background technology, the present invention proposes a kind of Dextrous Hand master-slave control method trembling process with disappearing, with data glove and stepper motor combination mode, the exercise data in finger joint is obtained by data glove, be mapped on each finger-joint of stepper motor driven Dextrous Hand, the motion of manipulation Dextrous Hand.

The technical solution used in the present invention is:

The present invention is based on data glove, PC, surface-mounted integrated circuit and stepper motor driven YWZ Dextrous Hand, specifically comprise the following steps:

1) first collected the movement angle in each joint of finger by data glove, send PC to by bluetooth;

2) PC by Motion mapping, disappear and tremble solving of process and stepper motor rotation direction and umber of pulse, generate the motion control signal meeting communication protocol data form between PC and surface-mounted integrated circuit;

3) communication serial port between PC and surface-mounted integrated circuit is created, PC sends to surface-mounted integrated circuit by communication serial port motion control signal, surface-mounted integrated circuit receives and sends corresponding stepper motor and rotates respective angles, drives principal and subordinate's motion of YWZ Dextrous Hand.

Described step 1) data glove adopt CyberGloveII data glove.

Described step 2) the Motion mapping mode that adopts joint to map the finger joint motions angle that data glove obtains is directly linked to the corresponding joint of Dextrous Hand.Motion mapping refers to the movement relation between staff and Dextrous Hand, and the present invention adopts joint to map, and is the corresponding joint finger joint motions angle that data glove obtains being directly linked to Dextrous Hand, visual in image.

Described step 2) disappear and tremble process in the following ways:

If the changing value that data glove collects finger joint motions angle is less than 1 °, think that finger is in shake, then PC does not send the control signal that movement angle upgrades, stepper motor non rotating;

If PC does not send the time of the control signal that movement angle upgrades more than after 3s, think that finger joint remains on current pose, only have when the changing value that data glove collects finger joint motions angle is greater than 2 °, think that staff joint is kept in motion, PC sends the control signal that movement angle upgrades.

Described step 2) in communication protocol between PC and surface-mounted integrated circuit adopt hexadecimal format, it comprises the sequence number of stepper motor, rotating, umber of pulse and the check code for the CRC (CRC) that judges data transmission accuracy successively.

Described step 2) middle PC adopts following formulae discovery stepper motor rotation direction value R by the finger joint motions angle obtained, and then judgement obtains the rotation direction of stepper motor:

R＝P _t-P _t-1

Wherein, P _tthe rear t finger joint motions angle of process is trembled, P for disappearing _t-1the rear t-1 moment finger joint motions angle of process is trembled for disappearing; If stepper motor rotation direction value R>0, stepper motor rotates forward; If stepper motor rotation direction value R<0, stepper motor reverses; If stepper motor rotation direction value R=0, then stepper motor does not turn.

Described step 2) in PC adopt following equations to go out the umber of pulse N of each stepper motor by the finger joint motions angle obtained:

$N=\mathrm{int}\left(\frac{|P_t-P_{t-1}|}{D}\right)$

Wherein, P _tthe rear t finger joint motions angle of process is trembled, P for disappearing _t-1the rear t-1 moment finger joint motions angle of process is trembled for disappearing; D is the stepping angle of stepper motor.

The hardware of master & slave control of the present invention is made up of data glove, PC, surface-mounted integrated circuit and YWZ Dextrous Hand.Data glove can gather the exercise data in finger joint more accurately, and stepper motor has higher kinematic accuracy, has ensured the motion accuracy of master & slave control Dextrous Hand; The disappearing of exercise data is trembled process and has been filtered independently not shaking of finger, makes stepper motor can smooth operation, has ensured the kinetic stability of master & slave control Dextrous Hand; Data glove and surface-mounted integrated circuit have higher message transmission rate, have ensured the Motion's real time of master & slave control Dextrous Hand.Experimental result shows that the Dextrous Hand master-slave control method of data glove and stepper motor combination mode is feasible, can realize the opened loop control of Dextrous Hand, have good kinematic accuracy, real-time and stability.

The invention has the beneficial effects as follows:

The present invention adopts the combination of data glove and stepper motor to build, to realize the master & slave control motion of Dextrous Hand.Relative to purchasing ore mechanism and surface electromyogram signal, data glove can obtain the movement angle in finger joint more accurately.Relative to direct current generator, servo cylinder and air muscle, stepper motor can realize accurately and rotate stably under open loop situations.

The Dextrous Hand master-slave control method of data glove of the present invention and stepper motor combination mode achieves the opened loop control of Dextrous Hand, avoid the complexity of closed-loop control, the movement angle in finger joint can be obtained more accurately, Dextrous Hand motion can be controlled more accurately, there is good real-time and stability.

Accompanying drawing explanation

Fig. 1 is the master & slave control connection diagram of hardware of the present invention.

Fig. 2 is PC of the present invention and surface-mounted integrated circuit connection diagram.

Fig. 3 is that the present invention disappears and trembles the schematic flow sheet of process.

Detailed description of the invention

Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.

Embodiments of the invention and specific implementation process as follows:

1, hardware configuration

As shown in Figure 1, the hardware of the embodiment of the present invention is made up of CyberGloveII data glove, PC, surface-mounted integrated circuit and stepper motor driven YWZ Dextrous Hand.

CyberGloveII data glove gathers the exercise data in finger joint; PC receives and processes exercise data and send motion control signal; Surface-mounted integrated circuit receives and distributes motion control signal, and Driving Stepping Motor rotates; YWZ Dextrous Hand complete operation task.CyberGloveII data glove has 22 joint angles sensors, and resolution ratio is 0.5 °, and wireless blue tooth transmits, and baud rate is 115200bit/s, can the movement angle in Real-time Obtaining finger joint.

YWZ Dextrous Hand can adopt the clever hands of patent of invention ZL201010594218.6, and be made up of 5 fingers and palm, the frame for movement of 5 fingers is identical, and thumb is vertically placed on other four opposite referred to, can move along the dead slot of palm.Each finger has metacarpal joint (MP), proximal joint (PIP) and distal joint (DIP), DIP and PIP has a bending free degree respectively, MP has a bending free degree and a side-sway free degree, have four frees degree (three bending frees degree and a side-sway free degree), rotated through a pair spiral bevel gear driving joint by the stepper motor being arranged on palm and finger interior respectively, YWZ Dextrous Hand has 20 initiatively frees degree, is the anthropomorphic Dextrous Hand of a kind of internally-arranged type.20 joints of YWZ Dextrous Hand are driven by 20 micro-step motors respectively, and the sequence of stepper motor and YWZ delicate finger-joint is as shown in table 1.For thumb, thumb metacarpal joint is driven by stepper motor 1 and stepper motor 6, and thumb proximal joint is driven by stepper motor 11, and thumb distal joint is driven by stepper motor 16.

The sequence of table 1 stepper motor

Because the torque of stepper motor can reduce along with the increase of rotating speed, the step-out of stepper motor may be caused, but rotating speed crosses the Motion's real time that can affect Dextrous Hand master & slave control slowly.According to the frame for movement of internally-arranged type YWZ Dextrous Hand, concrete enforcement has selected 3 kinds of micro-step motors, and rotating speed is 5 turns (5r/s) per second, as shown in table 2.

The model of table 2 stepper motor and parameter

The each joint of YWZ Dextrous Hand is driven by a stepper motor, stepper motor is driven by corresponding driving chip, all driving chip are all subject to a main controller controls, master controller is connected with PC, receive sent by PC motion control signal, parsing distribute to 20 corresponding stepper motor driver chip, control step electric machine rotation.

As shown in Figure 2, surface-mounted integrated circuit of the present invention is integrated with master controller (ATxmega128A1), driving chip (A3977), voltage supply chip (LM2596), USB interface and other peripheral assemblies.Through USB serial ports, master controller receives the motion control signal that PC sends, the correctness of checking motion control signal, and exercise data is distributed to the driving chip of 20 stepper motors, control step electric machine rotation.

2, method implementation process

As shown in Figure 1, first process of the present invention is the movement angle being collected finger 20 joints by data glove, sends PC to by blue tooth interface; Then PC is mapped by joint, disappears and tremble solving of process and stepper motor rotation direction and umber of pulse, generates the motion control signal meeting communication protocol data form between PC and surface-mounted integrated circuit; Then, create the communication serial port between PC and surface-mounted integrated circuit, PC sends to surface-mounted integrated circuit by communication serial port motion control signal, surface-mounted integrated circuit receives and after verifying the correctness of motion control signal, motion control signal is distributed to 20 stepper motors, drives the motion of YWZ Dextrous Hand.

2.1, the Motion mapping of staff and Dextrous Hand

The finger joint motions angle map that embodiment obtains data glove is to joint corresponding to YWZ Dextrous Hand.

2.2, disappearing of finger joint motions trembles process

As shown in Figure 3, concrete enforcement in the following ways handler finger not independently shake: if the changing value collecting finger joint motions angle in data glove is less than 1 °, think that finger is in shake, then PC does not send the control signal that movement angle upgrades, stepper motor non rotating; If PC does not send the time of the control signal that movement angle upgrades more than after 3s, think that finger joint remains on current pose, time moving again in finger joint, only have and think that staff joint is kept in motion when the changing value collecting finger joint motions angle in data glove is greater than 2 °, PC sends the control signal that movement angle upgrades, and upgrades movement angle.

For the process of movement angle data, can be specifically that the movement angle after trembling process that disappeared for twice front and back carries out asking poor, if difference is zero, represent that stepper motor stops operating; If on the occasion of then representing that stepper motor rotates forward; If negative value then represents that stepper motor reverses.The absolute value representation stepper motor rotational angle of difference.Stepper motor rotational angle, divided by the stepping angle of stepper motor, tries to achieve the umber of pulse of stepper motor.

Found by many experiments in concrete enforcement that the exercise data that the changing value filtering out finger joint motions angle is less than 1 ° can obtain more stable movement angle, stepper motor can smooth rotation, ensure that Dextrous Hand stably can capture object.

2.3, the control signal comprising rotation direction and umber of pulse calculates

PC adopts following formulae discovery stepper motor rotation direction value R by the finger joint motions angle obtained, and then judges the rotation direction obtaining stepper motor:

R＝P _t-P _t-1

Wherein, P _tthe rear t finger joint motions angle of process is trembled, P for disappearing _t-1the rear t-1 moment finger joint motions angle of process is trembled for disappearing.After calculating stepper motor rotation direction value R, if stepper motor rotation direction value R>0, stepper motor rotates forward; If stepper motor rotation direction value R<0, stepper motor reverses; If stepper motor rotation direction value R=0, then stepper motor does not turn.

PC adopts following equations to go out the umber of pulse N of each stepper motor by the finger joint motions angle obtained:

$N=\mathrm{int}\left(\frac{|P_t-P_{t-1}|}{D}\right)$

Wherein, P _tthe rear t finger joint motions angle of process is trembled, P for disappearing _t-1the rear t-1 moment finger joint motions angle of process is trembled for disappearing; D is the stepping angle of stepper motor.

Embodiment adopts serial communication, sets up communication protocol, carry out transmission and the reception of motion control signal, realize the communication between PC and surface-mounted integrated circuit by the data format of communication protocol between PC and surface-mounted integrated circuit.

The communication protocol of embodiment comprises the sequence number of stepper motor, the check code of rotating, umber of pulse and CRC (CRC).Wherein, CRC is used for the accuracy judging that data are transmitted, PC calculates the check code of CRC and together sends to surface-mounted integrated circuit with motion control signal, the master controller of surface-mounted integrated circuit recalculates the check code of CRC to the motion control signal received, if the check code of two CRC is identical, then show that the communication between PC and surface-mounted integrated circuit is correct, master controller performs motion control signal, otherwise, stop performing motion control signal.

It specifically uses hexadecimal format to define communication protocol, and data format is as follows:

a _1-8b _1-8c _1-8d _1-8e _1-8f _1-8g _1-8h _1-8i _1-8j _1-8k _1-8l _1-8m _1-8n _1-8o _1-8p _1-8q _1-8r _1-8s _1-8t _1-8wxyz

Wherein, each letter represents a stepper motor, and a stepper motor has 8 bit data.Such as, a _1-8=a ₁a ₂a ₃a ₄a ₅a ₆a ₇a ₈in, a ₁, a ₂the sequence number of bit representation stepper motor; a ₃, a ₄the rotating information of bit representation stepper motor, 01 for rotating forward, and 02 is reversion; a ₅, a ₆, a ₇, a ₈represent the umber of pulse of stepper motor; W, x, y, z are the check code of CRC.

Thus, based on VC++10.0 platform, serial communication program can be called WinAPI function and write, and the data meeting communication protocol is sent to the main controller of surface-mounted integrated circuit.

The speed that visible PC of the present invention sends motion control signal is identical with the speed that master controller receives motion control signal, avoids loss or the accumulation of motion control signal, ensure that the real-time that stepper motor moves and accuracy.

3, the checking of embodiment

The exercise test of 3.1 " OK " hand-type

" OK " hand-type is each joint motions of thumb and forefinger, and the finger tip of thumb and forefinger is contacted with each other, and in this motion process, the joint of other fingers remains unchanged.When staff is worn data glove and completed " OK " attitude, data glove obtains following exercise data:

$\left[\begin{array}{cccc}1.5048& 0.4347& 0.4566& 0.2309\\ 0.0019& 1.4736& 0.7379& 0.0283\\ 0.4830& 0& 0.3048& 0.0149\\ 0.1229& 0.0715& 0.1363& 0.0586\\ 0.4157& 0.3458& 0.1976& 0.1062\end{array}\right]$

The exercise data that data glove obtains is radian value, after being converted into angle value, tries to achieve the umber of pulse of each stepper motor, drives YWZ Dextrous Hand to complete the motion of " OK " hand-type.

The movement angle in each joint of YWZ Dextrous Hand and the movement angle in finger joint are compared, analyze kinematic error, its kinematic error (η) is tried to achieve by following formula.

$\mathrm{\&eta;}=\frac{|\mathrm{\&theta;}-\mathrm{\&phi;}|}{\mathrm{\&phi;}}\&times;100\%$

Wherein, staff joint angle angle value refer to the angle of finger joint actual rotation, delicate finger-joint angle value (θ) refers to the angle of delicate finger-joint actual rotation.The angular error in the joint that embodiment obtains is less, shows to realize the motion of Dextrous Hand master & slave control more accurately.

The exercise test of 3.2 " V " hand-type

" V " hand-type is each joint motions of thumb, the third finger, little finger of toe, and thumb tip, nameless finger tip and little finger of toe finger tip contact with each other, and forefinger and middle finger carry out side-sway motion simultaneously.When staff in concrete enforcement wear data glove complete " V " attitude time, data glove obtains following exercise data:

$\left[\begin{array}{cccc}1.5840& 0.2480& 0.4241& 0.1606\\ 0.0970& 0.2043& 0.0903& 0.2521\\ 0.2588& 0.7216& 0.3048& 0.0522\\ 0.5738& 1.6092& 0.1156& 0.3539\\ 0.0946& 1.4014& 0.2964& 0.4234\end{array}\right]$

The movement angle in each joint of YWZ Dextrous Hand and the movement angle in finger joint are compared, analyze kinematic error, the angular error that embodiment obtains less showing can realize the motion of Dextrous Hand master & slave control more accurately.

The real time analysis of 3.3 motions

Dexterous chirokinesthetic real-time is the important indicator of constant master-slave control method quality.The elapsed time of master & slave control refers to that from the exercise data of data glove acquisitor finger-joint, perform motion control signal to Dextrous Hand terminates the required time.The time delay of elapsed time longer expression master & slave control is longer, and dexterous chirokinesthetic real-time is poorer, can cause staff and Dextrous Hand motion asynchrony phenomenon, needs the sample frequency reducing data glove, and then can reduce again the kinematic accuracy of Dextrous Hand.

Embodiment is from the real-time of following four aspect analysis verification master-slave control methods of the present invention, and final baud rate between PC and surface-mounted integrated circuit can be tried to achieve by following formula:

F(baud)＝F(system)/(16*(BSEL[0:11]+1))

In formula, F (baud) is baud rate, the crystal oscillator frequency (32MHZ) that F (system) is master controller, the register that BSEL [0:11] is master controller.

1) data acquisition time t ₁: PC receives data glove and gathers time needed for finger joint motions data.Data glove once gathers the movement angle of 20 people's finger-joints, and data type is integer (32bit), need take 640bit, and the baud rate of data glove data is 115200bps, then t ₁=640/115200 ≈ 0.006s, i.e. 6ms.

2) data calculation time t ₂: PC disappears to movement angle and trembles, solves turning to and time that umber of pulse etc. is required of stepper motor.Data due to the method calculate and do not relate to complex mathematical computing, t ₂≈ 0ms.

3) data transmitting time t ₃: master controller receives PC and sends time needed for control signal data.Article one, control signal data have the exercise data of 20 motors (each motor have 4 char categorical datas,) and the CRC check code of 2 bytes, then control signal data have (20 ' 4+2) ' 8=656bit, transfer rate between PC and control panel is 38400bps, then t ₃=656/38400 ≈ 0.017s, i.e. 17ms.

4) the control signal time of implementation t of stepper motor ₄: stepper motor completes the time needed for control signal data.YWZ delicate finger-joint maximum rotation angle is 120 °, and the rotating speed of stepper motor is 5r/s, then maximum run durations of stepper motor calculate as follows, and the result obtained is 0.067s, i.e. 67ms.

In formula, β is the rotational angle of delicate finger-joint, and n is the rotating speed of stepper motor.

So, elapsed time (delay time) T=t of master-slave control method of the present invention ₁+ t ₂+ t ₃+ t ₄≈ 90ms, the finger joint motions data that the 100ms time interval receives a data glove collection are set, the complete motion control signal of stepper motor, can not cause the accumulation of motion control signal, guarantees to achieve the dexterous chirokinesthetic real-time transmission of YWZ.

From above embodiment, the inventive method achieves the motion accuracy of Dextrous Hand, stability and real-time, has outstanding significant technique effect:

In motion accuracy, stepper motor has higher kinematic accuracy under open loop situations, and stepper motor and spiral bevel gear are arranged on finger and palm is inner, shorten drive path, decrease driving error, ensure that kinematic accuracy.

In kinetic stability, stepper motor self damping action is better, makes it more steady in operation process; And disappear to tremble to process and filtered independently not shaking of finger, more stable movement angle can be obtained, ensure that the smooth operation of stepper motor, make Dextrous Hand stably can capture object.

In Motion's real time, data glove can obtain the movement angle in finger joint rapidly, and PC can complete data fast and calculate; Data transmitting time between PC and control panel and the control signal time of implementation of stepper motor all very short.

Claims (7)

1. trembling a Dextrous Hand master-slave control method for process with disappearing, based on data glove, PC, surface-mounted integrated circuit and stepper motor driven YWZ Dextrous Hand, it is characterized in that:

1) first collected the movement angle in each joint of finger by data glove, send PC to by bluetooth;

2) PC by Motion mapping, disappear and tremble solving of process and stepper motor rotation direction and umber of pulse, generate the motion control signal meeting communication protocol data form between PC and surface-mounted integrated circuit;

3) communication serial port between PC and surface-mounted integrated circuit is created, PC sends to surface-mounted integrated circuit by communication serial port motion control signal, surface-mounted integrated circuit receives and sends corresponding stepper motor and rotates respective angles, drives principal and subordinate's motion of YWZ Dextrous Hand.

2. a kind of Dextrous Hand master-slave control method trembling process with disappearing according to claim 1, is characterized in that: described step 1) data glove adopt CyberGloveII data glove.

3. a kind of Dextrous Hand master-slave control method trembling process with disappearing according to claim 1, is characterized in that: described step 2) the Motion mapping mode that adopts joint to map the finger joint motions angle that data glove obtains is directly linked to the corresponding joint of Dextrous Hand.

4. a kind of Dextrous Hand master-slave control method trembling process with disappearing according to claim 1, is characterized in that: described step 2) disappear and tremble process in the following ways:

If the changing value that data glove collects finger joint motions angle is less than 1 °, think that finger is in shake, then PC does not send the control signal that movement angle upgrades, stepper motor non rotating;

If PC does not send the time of the control signal that movement angle upgrades more than after 3s, think that finger joint remains on current pose, only have when the changing value that data glove collects finger joint motions angle is greater than 2 °, think that staff joint is kept in motion, PC sends the control signal that movement angle upgrades.

5. a kind of Dextrous Hand master-slave control method trembling process with disappearing according to claim 1, it is characterized in that: described step 2) in communication protocol between PC and surface-mounted integrated circuit adopt hexadecimal format, it comprises the sequence number of stepper motor, rotating, umber of pulse and the check code for the CRC (CRC) that judges data transmission accuracy successively.

6. a kind of Dextrous Hand master-slave control method trembling process with disappearing according to claim 1, it is characterized in that: described step 2) middle PC adopts following formulae discovery stepper motor rotation direction value R by the finger joint motions angle obtained, and then judgement obtains the rotation direction of stepper motor:

R＝P _t-P _t-1

Wherein, P _tthe rear t finger joint motions angle of process is trembled, P for disappearing _t-1the rear t-1 moment finger joint motions angle of process is trembled for disappearing;

If stepper motor rotation direction value R>0, stepper motor rotates forward; If stepper motor rotation direction value R<0, stepper motor reverses; If stepper motor rotation direction value R=0, then stepper motor does not turn.

7. a kind of Dextrous Hand master-slave control method trembling process with disappearing according to claim 1, is characterized in that: described step 2) in PC adopt following equations to go out the umber of pulse N of each stepper motor by the finger joint motions angle obtained:

$N=\mathrm{int}\left(\frac{|P_t-P_{t-1}|}{D}\right)$

Wherein, P _tthe rear t finger joint motions angle of process is trembled, P for disappearing _t-1the rear t-1 moment finger joint motions angle of process is trembled for disappearing; D is the stepping angle of stepper motor.