CN105690386B - A kind of mechanical arm remote control system and teleoperation method - Google Patents

A kind of mechanical arm remote control system and teleoperation method Download PDF

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Publication number
CN105690386B
CN105690386B CN201610168048.2A CN201610168048A CN105690386B CN 105690386 B CN105690386 B CN 105690386B CN 201610168048 A CN201610168048 A CN 201610168048A CN 105690386 B CN105690386 B CN 105690386B
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finger
joint
posture
current time
arm
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CN105690386A (en
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方斌
张韬懿
范立明
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Beijing Xuanyu Intelligent Technology Co Ltd
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Beijing Xuanyu Intelligent Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1689Teleoperation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1635Programme controls characterised by the control loop flexible-arm control

Abstract

The present invention relates to a kind of mechanical arm remote control system and teleoperation methods, the mechanical arm remote control system includes data glove, data processing display unit, mechanical arm control unit, mechanical arm and manipulator, data processing display unit will be resolved to obtain human body large arm from the received motion information of data glove, forearm, the posture of the back of the hand and each finger, and control instruction is converted by posture, remote operating is carried out to mechanical arm and manipulator by mechanical arm control unit, realize human arm, hand controls mechanical arm, finger controls manipulator, pass through the difference control mode to mechanical arm and manipulator, mechanical arm can be given full play to, the respective kinetic characteristic of manipulator, mechanical arm is enabled to complete complicated operation as manpower, the remote operating that mechanical arm passes through human arm, the dexterous movement of human arm can be reappeared in real time , mechanical arm more quickly realizes inter-related task without carrying out offline Motion trajectory.

Description

A kind of mechanical arm remote control system and teleoperation method
Technical field
The invention discloses a kind of mechanical arm remote control system and teleoperation methods, can be grasped in real time by human hand movement Make mechanical arm, belongs to robotic technology field.
Background technique
In recent years human-computer interaction technology grow rapidly, it mainly by relevant device identify people various actions movement, Body gesture etc. is interacted with computer virtual environment, realizes the functions such as game, operation training, body-building.Capture human motion It is wherein crucial.Currently, human motion capture technology is largely to need camera etc. is external to set based on image recognition technology Standby, vulnerable to conditions such as illumination, environment influence.
The patent of the Patent No. 201510271805.4 of applicant's earlier application, which disclose one kind for capturing The donning system of human upper limb locomotion information, including sensor, central processing unit, power supply, wireless module and display, and it is specific It gives modules function and in human body large arm, forearm and set-up mode on hand, which can completely capture upper limb fortune Dynamic information can be applied to the fields such as human-computer interaction, remote operating, but there are modules, and unreasonable, wearing inconvenience is arranged Defect, furthermore the patent solution process does not fully consider the feature of people's upper limb model, and solution process illustrates insufficient.
Mechanical arm is the combination of mechanical arm and manipulator, is widely used, process and assemble, hazardous environment such as factory Operation, the maintenance and repair of space capsule etc..Remote operating is most common control means in mechanical arm.It all adopts mostly at present Remote operating is carried out with the mode of keyboard or handle, control process is single, is difficult to complete the remote operating of compound action, and man-machine friendship Mutual process is unnatural.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, a kind of mechanical arm remote control system is provided, is led to It crosses manpower and remote operating is carried out to mechanical arm, mechanical arm is enabled to complete complicated operation as manpower, mechanical arm is logical The remote operating of human arm is crossed, the dexterous movement of human arm can be reappeared in real time, mechanical arm is not necessarily to carry out offline motion profile rule It draws, more quickly realizes inter-related task.
Another object of the present invention is that providing a kind of mechanical arm teleoperation method.
What above-mentioned purpose of the invention was mainly achieved by following technical solution:
A kind of mechanical arm remote control system, including the control of data glove, data processing display unit, mechanical arm are single Member, mechanical arm and manipulator, in which:
Data glove: including several sensors and microprocessor, several described sensors are separately positioned on human body Between large arm, forearm, the back of the hand and each joint of each finger, for acquiring the motion information of human upper limb different parts;It is micro- Processor is arranged on human body wrist, for receiving motion information from sensor, and the motion information is sent at data Manage display unit;The motion information includes finger part between each joint of human body large arm, forearm, the back of the hand and each finger Angular speed, acceleration and magnetic field value;
The wherein specific setting method of several sensors are as follows: a sensor is respectively set in the large arm of human body, forearm, in One biography is respectively set between the root joint and middle joint of finger, between middle joint and end joint and between end joint and finger tip Sensor, and with a sensor being arranged on the back of the hand, totally four sensors, which are formed, is connected in series, each finger in remaining finger One sensing is respectively set between root joint and middle joint, between middle joint and end joint and between end joint and finger tip Device, three sensors on each finger, which are formed, to be connected in series;
Data processing display unit;Real-time reception microprocessor send motion information resolved, obtain human body large arm, The posture of forearm, the back of the hand and each finger, and the control that the posture of wherein large arm, forearm and the back of the hand is converted into mechanical arm is referred to It enables, converts the posture of wherein each finger to the control instruction of manipulator, and by the control instruction and machinery of the mechanical arm The control instruction of hand is sent to mechanical arm control unit in real time;
Mechanical arm control unit: real-time reception data processing display unit send the mechanical arm control instruction and The control instruction of manipulator carries out remote operating to mechanical arm and manipulator respectively, so that the posture of mechanical arm and current time people The posture of body large arm, forearm and the back of the hand is consistent, so that the posture of manipulator is consistent with the posture of current time human finger.
In above-mentioned mechanical arm remote control system, the movement of data processing display unit real-time reception microprocessor transmission Information is resolved, and obtaining the posture of human body large arm, forearm, the back of the hand and each finger, the specific method is as follows:
(2.1), the posture T of current time human body large arm is calculated1,k, specific formula is as follows:
T1,k1×A1,k+(1-λ1)×B1,k
Wherein: A1,kFor the high frequency posture of current time large arm, B1,kFor the low frequency posture of current time large arm, λ1For complementation Coefficient, value are 0≤λ1≤1;K is moment sequence, the positive integer that value is >=1;
(2.2), the posture of current time human body forearm is calculated, the posture of human body forearm passes through the phase between forearm and large arm To angle T2,kIt indicates, specific formula is as follows:
Wherein: a2x,kFor along the acceleration of human body forearm axis direction, a1x,kFor along the acceleration of human body large arm axis direction, g is Acceleration of gravity;
(2.3), the posture T of current time human body hand is calculated3,k, specific formula is as follows:
T3,k3×A3,k+(1-λ3)×B3,k
Wherein: A3,kThe high frequency posture of current moment hand, B3,kThe low frequency posture of current time hand, λ3For complementary coefficient, take Value is 0≤λ3≤1;
(2.4), the posture T of finger part between current time human finger root joint and middle joint is calculated4,k, specific public Formula is as follows:
T4,k4×A4,k+(1-λ4)×B4,k
Wherein: A4,kThe high frequency posture of finger part, B between current moment finger root joint and middle joint4,kIt is current Moment finger root joint and middle joint between finger part low frequency posture, λ4For complementary coefficient, value is 0≤λ4≤1;
(2.5), the posture for calculating finger part between joint (6) and end joint (7) in current time human finger, leads to Cross the angle T of the finger part between finger root joint (5) and middle joint (6)5,kIt indicates, specific formula is as follows:
Wherein: a5x,kThe acceleration in finger part direction, a between the joint along finger and end joint4x,kFor along finger The acceleration in finger part direction between root joint and middle joint;
(2.6), the posture for calculating finger part between current time human finger end joint (7) and finger tip, by with In finger between joint (6) and end joint (7) finger part angle T6,kIt indicates, specific formula is as follows:
Wherein: a6x,kFor the acceleration in the finger part direction between finger tips joint and finger tip.
In above-mentioned mechanical arm remote control system, the high frequency posture A of current time large arm in step (2.1)1,kBy such as Lower formula obtains:
A1,k=T1,k-1+g1,k×Δt
Wherein: T1,k-1For the posture of last moment large arm, g1,kFor the angular speed of current time large arm, Δ t is to resolve week Phase;
The low frequency posture B of the current time large arm1,kBy determining that sexual stance filtering algorithm obtains, especially by as follows Formula obtains:
C(B1,k)=[G M G × M]/[a1,k m1,k a1,k×m1,k]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a1,kFor the acceleration of current time large arm, m1,kFor current time The magnetic field value of large arm, C (B1,k) it is B1,kAttitude matrix.
In above-mentioned mechanical arm remote control system, the high frequency posture A of current time hand in step (2.3)3,kBy as follows Formula obtains:
A3,k=T3,k-1+(g3,k-g2,k)×Δt
Wherein: T3,k-1For the posture of last moment hand, g3,kFor the angular speed of current time hand, g2,kFor current time forearm Angular speed, Δ t be resolve the period;
The low frequency posture B of the current time hand3,kBy determining that sexual stance filtering algorithm obtains, especially by following public affairs Formula obtains:
C(B3,k)=[G M G × M]/[a3,k-a2,k m3,k-m2,k(a3,k-a2,k)×(m3,k-m2,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a3,kFor the acceleration of current time hand, a2,kIt is small for current time The acceleration of arm, m3,kFor the magnetic field value of current time hand, m2,kFor the magnetic field value of current time forearm, C (B3,k) it is B3,kAppearance State matrix.
In above-mentioned mechanical arm remote control system, current time finger root joint (5) and middle joint in step (2.4) (6) the high frequency posture A of finger part between4,kIt is obtained by following formula:
A4,k=T4,k-1+(g4,k-g3,k)×Δt
Wherein: T4,k-1The posture of finger part, g between last moment human finger root joint and middle joint4,kIt is current Moment finger root joint and middle joint between finger part angular speed, g3,kThe angular speed of current time hand, Δ t are to resolve week Phase;
The low frequency posture B of finger part between current time finger root joint (5) and middle joint (6)4,kPass through certainty appearance State filtering algorithm obtains, and obtains especially by following formula:
C(B4,k)=[G M G × M]/[a4,k-a3,k m4,k-m3,k(a4,k-a3,k)×(m4,k-m3,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a4,kCurrent time finger root joint and middle joint between finger section The acceleration divided, a3,kFor the acceleration of current time hand, m4,kThe finger section between current time finger root joint and middle joint The magnetic field value divided, m3,kFor the magnetic field value of current time hand, C (B4,k) it is B4,kAttitude matrix.
In above-mentioned mechanical arm remote control system, λ1、λ3And λ4Value are as follows: 0.2≤λ1≤ 0.5,0.2≤λ3≤ 0.5, 0.2≤λ4≤0.5;The value for resolving period Δ t is 0.001-0.1s.
In above-mentioned mechanical arm remote control system, the sensor on human body the back of the hand and each finger is arranged on gloves, Glove donning human body on hand.
In above-mentioned mechanical arm remote control system, in data glove between each sensor and sensor and micro process It is connected between device using soft arranging wire, by wirelessly or non-wirelessly connecting between microprocessor and data processing display unit;The number It further include power supply unit according to gloves, the lower part of microprocessor is arranged in power supply unit, for powering for microprocessor and sensor.
A kind of mechanical arm teleoperation method, is realized by mechanical arm remote control system, the mechanical arm remote operating System includes data glove, data processing display unit, mechanical arm control unit, mechanical arm and manipulator, wherein data hand Set includes several sensors and microprocessor, and microprocessor is arranged on human body wrist, several sensors are separately positioned on Between the large arm of human body, forearm, the back of the hand and each joint of each finger, specific setting method are as follows: in the large arm of human body, forearm Respectively setting one sensor, between the root joint and middle joint of middle finger, between middle joint and end joint and end joint with One sensor is respectively set between finger tip, and with a sensor being arranged on the back of the hand, totally four sensors, which are formed, is connected in series, Between the root joint and middle joint of each finger, between middle joint and end joint and end joint and finger tip in remaining finger Between a sensor is respectively set, three sensors on each finger, which are formed, to be connected in series;
Concrete methods of realizing is as follows:
Data processing display unit, mechanical arm control unit, mechanical arm and manipulator are attached by step (1);
The initialization operation of step (2), mechanical arm remote control system, specifically comprises the following steps:
(1), data processing display unit converts the posture of the initial time human body large arm of storage inside, forearm and the back of the hand For the control instruction of mechanical arm, the control that the posture of each finger of initial time human body of storage inside is converted into manipulator is referred to It enables, and the control instruction of the mechanical arm and the control instruction of manipulator is sent to mechanical arm control unit in real time;
(2), the control for the mechanical arm that mechanical arm control unit real-time reception data processing display unit is sent refers to Enable and the control instruction of manipulator, remote operating carried out to mechanical arm and manipulator respectively so that the posture of mechanical arm and it is initial when The posture for carving human body large arm, forearm and the back of the hand is consistent, so that the posture one of the posture of manipulator and initial time human finger It causes;
Step (3), the real-time of mechanical arm remote control system follow movement, specifically comprise the following steps:
(1), the motion information of the sensor acquisition current time human upper limb different parts in data glove;Microprocessor Data processing display unit will be sent to from the motion information at the sensor received current time;The motion information includes Angular speed, acceleration and the magnetic field value of finger part between human body large arm, forearm, the back of the hand and each joint of each finger;
(2), the motion information at the current time that data processing display unit real-time reception microprocessor is sent is resolved, Current time human body large arm, the posture of forearm, the back of the hand and each finger are obtained, by the posture of wherein large arm, forearm and the back of the hand It is converted into the control instruction of mechanical arm, converts the posture of wherein each finger to the control instruction of manipulator, and by the machine The control instruction of tool arm and the control instruction of manipulator are sent to mechanical arm control unit in real time;
(3), the control for the mechanical arm that mechanical arm control unit real-time reception data processing display unit is sent refers to Enable and the control instruction of manipulator, remote operating carried out to mechanical arm and manipulator respectively so that the posture of mechanical arm and it is current when The posture for carving human body large arm, forearm and the back of the hand is consistent, so that the posture one of the posture of manipulator and current time human finger It causes.
In above-mentioned mechanical arm teleoperation method, in (2) of step (3), data processing display unit is to current time Motion information resolved that the specific method is as follows:
(10.1), the posture T of current time human body large arm is calculated1,k, specific formula is as follows:
T1,k1×A1,k+(1-λ1)×B1,k
Wherein: A1,kFor the high frequency posture of current time large arm, B1,kFor the low frequency posture of current time large arm, λ1For complementation Coefficient, value are 0≤λ1≤1;K is moment sequence, the positive integer that value is >=1;
(10.2), the posture of current time human body forearm is calculated, the posture of human body forearm passes through between forearm and large arm Relative angle T2,kIt indicates, specific formula is as follows:
Wherein: a2x,kFor along the acceleration of human body forearm axis direction, a1x,kFor along the acceleration of human body large arm axis direction, g is Acceleration of gravity;
(10.3), the posture T of current time human body hand is calculated3,k, specific formula is as follows:
T3,k3×A3,k+(1-λ3)×B3,k
Wherein: A3,kThe high frequency posture of current moment hand, B3,kThe low frequency posture of current time hand, λ3For complementary coefficient, take Value is 0≤λ3≤1;
(10.4), the posture T of finger part between current time human finger root joint and middle joint is calculated4,k, specific public Formula is as follows:
T4,k4×A4,k+(1-λ4)×B4,k
Wherein: A4,kThe high frequency posture of finger part, B between current moment finger root joint and middle joint4,kIt is current Moment finger root joint and middle joint between finger part low frequency posture, λ4For complementary coefficient, value is 0≤λ4≤1;
(10.5), calculate current time human finger between joint and end joint finger part posture, by with The angle T of finger part between finger root joint and middle joint5,kIt indicates, specific formula is as follows:
Wherein: a5x,kThe acceleration in finger part direction, a between the joint along finger and end joint4x,kFor along finger The acceleration in finger part direction between root joint and middle joint;
(10.6), the posture for calculating finger part between current time human finger end joint and finger tip, by with hand In finger between joint and end joint finger part angle T6,kIt indicates, specific formula is as follows:
Wherein: a6x,kFor the acceleration in the finger part direction between finger tips joint and finger tip.
In above-mentioned mechanical arm teleoperation method, the high frequency posture A of current time large arm in step (10.1)1,kPass through Following formula obtains:
A1,k=T1,k-1+g1,k×Δt
Wherein: T1,k-1For the posture of last moment large arm, g1,kFor the angular speed of current time large arm, Δ t is to resolve week Phase;
The low frequency posture B of the current time large arm1,kBy determining that sexual stance filtering algorithm obtains, especially by as follows Formula obtains:
C(B1,k)=[G M G × M]/[a1,k m1,k a1,k×m1,k]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a1,kFor the acceleration of current time large arm, m1,kFor current time The magnetic field value of large arm, C (B1,k) it is B1,kAttitude matrix.
In above-mentioned mechanical arm teleoperation method, the high frequency posture A of current time hand in step (10.3)3,kBy such as Lower formula obtains:
A3,k=T3,k-1+(g3,k-g2,k)×Δt
Wherein: T3,k-1For the posture of last moment hand, g3,kFor the angular speed of current time hand, g2,kFor current time forearm Angular speed, Δ t be resolve the period;
The low frequency posture B of the current time hand3,kBy determining that sexual stance filtering algorithm obtains, especially by following public affairs Formula obtains:
C(B3,k)=[G M G × M]/[a3,k-a2,k m3,k-m2,k(a3,k-a2,k)×(m3,k-m2,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a3,kFor the acceleration of current time hand, a2,kIt is small for current time The acceleration of arm, m3,kFor the magnetic field value of current time hand, m2,kFor the magnetic field value of current time forearm, C (B3,k) it is B3,kAppearance State matrix.
In above-mentioned mechanical arm teleoperation method, current time finger root joint (5) and middle joint in step (10.4) (6) the high frequency posture A of finger part between4,kIt is obtained by following formula:
A4,k=T 4,k-1+(g4,k-g3,k)×Δt
Wherein: T4,k-1The posture of finger part, g between last moment human finger root joint and middle joint4,kIt is current Moment finger root joint and middle joint between finger part angular speed, g3,kFor the angular speed of current time hand, Δ t is to resolve Period;
The low frequency posture B of finger part between current time finger root joint (5) and middle joint (6)4,kPass through certainty appearance State filtering algorithm obtains, and obtains especially by following formula:
C(B4,k)=[G M G × M]/[a4,k-a3,k m4,k-m3,k(a4,k-a3,k)×(m4,k-m3,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a4,kCurrent time finger root joint and middle joint between finger section The acceleration divided, a3,kFor the acceleration of current time hand, m4,kThe finger section between current time finger root joint and middle joint The magnetic field value divided, m3,kFor the magnetic field value of current time hand, C (B4,k) it is B4,kAttitude matrix.
In above-mentioned mechanical arm teleoperation method, λ1、λ3And λ4Value are as follows: 0.2≤λ1≤ 0.5,0.2≤λ3≤ 0.5, 0.2≤λ4≤0.5;The value for resolving period Δ t is 0.001-0.1s.
In above-mentioned mechanical arm teleoperation method, the sensor on human body the back of the hand and each finger is arranged on gloves, Glove donning human body on hand.
In above-mentioned mechanical arm teleoperation method, in data glove between each sensor and sensor and micro process It is connected between device using soft arranging wire, by wirelessly or non-wirelessly connecting between microprocessor and data processing display unit;The number It further include power supply unit according to gloves, the lower part of microprocessor is arranged in power supply unit, for powering for microprocessor and sensor.
In above-mentioned mechanical arm teleoperation method, emergency stop or jerky motion, which occur, for human arm causes data processing display single When the control instruction of member conversion is more than the control instruction threshold value of mechanical arm and manipulator, data processing unit is by the control instruction Threshold value is sent to mechanical arm control unit, carries out remote operating to mechanical arm and manipulator by mechanical arm control unit.
Compared with prior art, the present invention has the following advantages:
(1), mechanical arm remote control system of the present invention includes data glove, data processing display unit, mechanical arm control Unit, mechanical arm and manipulator processed, data processing display unit will be resolved to obtain from the received motion information of data glove The posture of human body large arm, forearm, the back of the hand and each finger, and convert control instruction for posture and list is controlled by mechanical arm Member carries out remote operating to mechanical arm and manipulator, realizes that human arm, hand control mechanical arm, finger controls manipulator, by right The difference control mode of mechanical arm and manipulator can give full play to the respective kinetic characteristic of mechanical arm, manipulator, make it effectively The task that fulfils assignment;
(2), in mechanical arm remote control system of the present invention human arm it is more natural, it is friendly, easily to mechanical arm into Row remote operating enables mechanical arm to realize complicated operational motion as manpower;
(3), mechanical arm of the present invention can reappear the dexterous movement of human arm by the remote operating of human arm in real time, mechanical Arm more quickly realizes inter-related task without carrying out offline Motion trajectory;
(4), data glove system of the invention includes several sensors, microprocessor and data processing display unit, The glove system fully considers the feature of human upper limb, each functional module is optimized and rational deployment, so that wearing Wear more convenient to use, comfortable, stability is higher;
(5), data glove system proposed by the present invention fully considers the characteristic of sensor, in conjunction with the characteristics of human upper limb, A kind of motion information calculation method of efficiently and accurately is designed, so that calculation result is more accurate and reliable, can preferably be applied In multiple fields such as human-computer interaction, remote operating, upper limb healing monitorings;
(6), motion information calculation method process of the present invention is simple, it is easy to accomplish, there is stronger practicability;
(7), data glove system of the present invention can be carried out work without external equipment such as camera etc., not by environment Illumination is blocked etc. and to be influenced, and adaptive faculty is strong, easy to wear, adapts to different human body upper limb, can in real time, it is complete, rapidly capture hand The motion informations such as arm, the acceleration of palm and each finger, speed, posture and position.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mechanical arm remote control system of the present invention;
Fig. 2 is the functional block diagram of data glove of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
As shown in Figure 1 is the structural schematic diagram of mechanical arm remote control system of the present invention, as seen from the figure manipulator of the present invention Arm remote control system includes data glove 11, data processing display unit 4, mechanical arm control unit 8, mechanical arm 9 and machinery Hand 10, in which:
Data glove 11 includes several sensors 1 and microprocessor 2, several sensors 1 are separately positioned on human body Between large arm, forearm, the back of the hand and each joint of each finger, for acquiring the motion information of human upper limb different parts;It is micro- Processor 2 is arranged on human body wrist, for receiving motion information from sensor 1, and the motion information is sent to data Handle display unit 4.It is connected between each sensor 1 and using soft arranging wire 3 between sensor 1 and microprocessor 2, micro process By wirelessly or non-wirelessly connecting between device 2 and data processing display unit 4, in the embodiment of the present invention at microprocessor 2 and data Managing is wireless telecommunications between display unit 4.Above-mentioned motion information includes each of human body large arm, forearm, the back of the hand and each finger The angular speed of finger part, acceleration and magnetic field value between finger part and end joint and finger tip between joint.
18 sensors 1, specific setting method are as follows: human body are set on each arm of human body of the present invention as shown in Figure 1 One sensor 1 is respectively set in large arm, forearm, between the root joint 5 and middle joint 6 of middle finger, middle joint 6 and end joint 7 it Between and end joint 7 and finger tip between a sensor 1 is respectively set, and with a sensor 1 being arranged on the back of the hand, totally four Sensor 1, which is formed, to be connected in series, and in remaining finger between the root joint 5 and middle joint 6 of each finger, middle joint 6 and end close A sensor 1 is respectively set between section 7 and between end joint 7 and finger tip, three sensors 1 on each finger form string Connection connection.
The sensor 1 can be arranged directly on the upper limb part of human body, can also will be on human body the back of the hand and each finger Sensor 1 be arranged on gloves, glove donning human body on hand, glove donning human body on hand after, each sensor 1 Corresponding position is respectively between the back of the hand of human body and each joint of each finger.The gloves are soft gloves.
Data glove system of the present invention further includes power supply unit, and the lower part of microprocessor 2 is arranged in power supply unit, for for Microprocessor 2 and each sensor 1 are powered, and power supply unit can be battery or other power supplys.It is illustrated in figure 2 data of the present invention The functional block diagram of gloves.
The motion information that 4 real-time reception microprocessor 2 of data processing display unit is sent is resolved, and it is big to obtain human body Arm, forearm, the back of the hand and each finger (including finger part, middle joint and end between each finger root joint and middle joint Finger part between finger part, end joint and finger tip between joint) posture, and by wherein large arm, forearm and the back of the hand Posture is converted into the control instruction of mechanical arm 9, converts the posture of wherein each finger to the control instruction of manipulator 10, and will The control instruction of the mechanical arm 9 and the control instruction of manipulator 10 are sent to mechanical arm control unit 8 in real time.
8 real-time reception data processing display unit 4 of mechanical arm control unit send the mechanical arm 9 control instruction and The control instruction of manipulator 10 carries out remote operating to mechanical arm 9 and manipulator 10 respectively, so that the posture of mechanical arm 9 and current The posture of moment human body large arm, forearm and the back of the hand is consistent, so that the appearance of the posture of manipulator 10 and current time human finger State is consistent.
Mechanical arm 9 and manipulator 10, are moved under the control of mechanical arm control unit 8.
The specific method is as follows using above-mentioned mechanical arm remote control system progress remote operating by the present invention:
Step (1) carries out data processing display unit 4, mechanical arm control unit 8, mechanical arm 9 and manipulator 10 Connection, as shown in Figure 1.
The initialization operation of step (2), mechanical arm remote control system, specifically comprises the following steps:
(1), 4 storage inside initial time human body large arm of data processing display unit, forearm, the back of the hand and each finger Posture is (between root joint and middle joint including each finger, between the shutdown of middle joint and end, between end joint and finger tip The posture of finger part), convert the posture of wherein large arm, forearm and the back of the hand to the control instruction of mechanical arm 9, it will be wherein each The posture of finger is converted into the control instruction of manipulator 10, and by the control of the control instruction of the mechanical arm 9 and manipulator 10 Instruction is sent to mechanical arm control unit 8 in real time.Control instruction can be converted for posture using common Linear Mapping.
(2), the control for the mechanical arm 9 that 8 real-time reception data processing display unit 4 of mechanical arm control unit is sent The control instruction of instruction and manipulator 10 carries out remote operating to mechanical arm 9 and manipulator 10 respectively, so that the posture of mechanical arm 9 It is consistent with the posture of initial time human body large arm, forearm and the back of the hand, so that the posture of manipulator 10 and initial time human body hand The posture of finger is consistent.
Step (3), the real-time of mechanical arm remote control system follow movement, specifically comprise the following steps:
(1), the sensor 1 in data glove 11 acquires the motion information of current time human upper limb different parts;Micro- place Reason device 2 will be sent to data processing display unit 4 from the motion information at the received current time of sensor 1.Above-mentioned movement Information includes angular speed, acceleration and the magnetic of finger part between each joint of human body large arm, forearm, the back of the hand and each finger Field value.
(2), the motion information at the current time that 4 real-time reception microprocessor 2 of data processing display unit is sent is solved It calculates, current time human body large arm, the posture of forearm, the back of the hand and each finger is obtained, by the appearance of wherein large arm, forearm and the back of the hand State is converted into the control instruction of mechanical arm 9, converts the posture of wherein each finger to the control instruction of manipulator 10, and by institute The control instruction of the control instruction and manipulator 10 of stating mechanical arm 9 is sent to mechanical arm control unit 8 in real time.
(3), the control for the mechanical arm 9 that 8 real-time reception data processing display unit 4 of mechanical arm control unit is sent The control instruction of instruction and manipulator 10 carries out remote operating to mechanical arm 9 and manipulator 10 respectively, so that the posture of mechanical arm 9 It is consistent with the posture of current time human body large arm, forearm and the back of the hand, so that the posture of manipulator 10 and current time human body hand The posture of finger is consistent.
The movement letter at the current time that 4 real-time reception microprocessor 2 of data processing display unit is sent in above-mentioned steps (2) Breath is resolved, and obtaining the posture of current time human body large arm, forearm, the back of the hand and each finger, the specific method is as follows:
(2.1), the angular speed g for the current time large arm that the sensing tolerance 1 of large arm measures1,k, acceleration a1,k, magnetic field value m1,k, calculate the posture T of current time human body large arm1,k, specific formula is as follows:
T1,k1×A1,k+(1-λ1)×B1,k
Wherein: A1,kFor the high frequency posture of current time large arm, B1,kFor the low frequency posture of current time large arm, λ1For complementation Coefficient, value are 0≤λ1≤ 1, preferably 0.2≤λ1≤0.5。
The high frequency posture A of current time large arm1,kAccording to the angular speed g of current time large arm1,k, obtained by following formula It arrives:
A1,k=T1,k-1+g1,k×Δt
Wherein: T1,k-1For the posture of last moment large arm, g1,kFor the angular speed of current time large arm, Δ t is to resolve week Phase.λ in the present embodiment1It is 0.3;Δ t value is 0.02s in the present embodiment.
The low frequency posture B of current time large arm1,kAccording to gravitational vectors, magnetic vector, current time large arm acceleration and The magnetic field value of current time large arm is 3 × 1 matrixes by determining that sexual stance filtering algorithm obtains, public with specific reference to following conversion Formula obtains:
C(B1,k)=[G M G × M]/[a1,k m1,k a1,k×m1,k]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a1,kFor the acceleration of current time large arm, m1,kFor current time The magnetic field value of large arm, C (B1,k) it is B1,kAttitude matrix.
(2.2), the posture of human body forearm passes through the relative angle T between forearm and large arm2,kIt indicates, the sensing of forearm The angular speed g for the current time forearm that tolerance 1 measures2,k, acceleration a2,k, magnetic field value m2,k, then it is g with respect to angular speed2,k-g1,k, Relative acceleration is a2,k-a1,k, relative magnetic field value is m2,k-m1,k, take wherein along the relative acceleration of forearm axis direction and again Power acceleration resolves to obtain relative angle T2,k, specific formula is as follows:
Wherein: a2x,kFor along the acceleration of human body forearm axis direction, a1x,kFor along the acceleration of human body large arm axis direction, g is Gravity accelerates.
The current time forearm angular speed g that the sensing tolerance 1 of forearm measures2,k, acceleration a2,k, magnetic field value m2,kIt is three Axis angular rate vector g2,k, 3-axis acceleration vector a2,kWith three-axle magnetic field value vector m2,k, wherein a2x,kFor along the small arm axle side of human body To acceleration, can directly measure to obtain.Similarly, a1x,kCan directly to measure along the acceleration of human body large arm axis direction It obtains.
(2.3), the angular speed g for the current time human body hand that the sensing tolerance 1 of human body the back of the hand measures3,k, acceleration a3,k, magnetic Field value m3,k, then it is g with respect to angular speed3,k-g2,k, relative acceleration a3,k-a2,k, relative magnetic field value be m3,k-m2,k, calculating works as The posture T of preceding moment human body hand3,k, specific formula is as follows:
T3,k3×A3,k+(1-λ3)×B3,k
Wherein: A3,kThe high frequency posture of current moment hand, B3,kThe low frequency posture of current time hand, λ3For complementary coefficient, take Value is 0≤λ3≤1;It is preferred that 0.2≤λ3≤0.5。
The high frequency posture A of current time hand3,kAccording to opposite angular speed g3,k-g2,k, it is obtained by following formula:
A3,k=T3,k-1+(g3,k-g2,k)×Δt
Wherein: T3,k-1For the posture of last moment hand, g3,kFor the angular speed of current time hand, g2,kFor current time forearm Angular speed, Δ t be resolve the period.Δ t value is 0.02s, λ in the present embodiment in the present embodiment3Value is 0.3.
The low frequency posture B of current time hand3,kAccording to gravitational vectors, magnetic vector, relative acceleration a3,k-a2,kWith it is opposite Magnetic field value m3,k-m2,k, it is obtained by determining sexual stance filtering algorithm, is obtained especially by following formula:
C(B3,k)=[G M G × M]/[a3,k-a2,k m3,k-m2,k(a3,k-a2,k)×(m3,k-m2,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a3,kFor the acceleration of current time hand, a2,kIt is small for current time The acceleration of arm, m3,kFor the magnetic field value of current time hand, m2,kFor the magnetic field value of current time forearm, C (B3,k) it is B3,kAppearance State matrix.
(2.4), the sensor 1 being arranged between human finger root joint 5 and middle joint 6 measures current time finger root joint The angular speed g of finger part between 5 and middle joint 64,k, the acceleration of finger part between finger root joint 5 and middle joint 6 a4,k, the magnetic field value m of finger part between finger root joint 5 and middle joint 64,k, then it is g with respect to angular speed4,k-g3,k, it is opposite plus Speed is a4,k-a3,k, relative magnetic field value be m4,k-m3,k, calculate finger between current time human finger root joint and middle joint Partial posture T4,k, specific formula is as follows:
T4,k4×A4,k+(1-λ4)×B4,k
Wherein: A4,kThe high frequency posture of finger part, B between current moment finger root joint and middle joint4,kIt is current Moment finger root joint and middle joint between finger part low frequency posture, λ4For complementary coefficient, value is 0≤λ4≤ 1, preferably 0.2≤λ4≤0.5。
Current time finger root joint and middle joint between finger part high frequency posture A4,kAccording to opposite angular speed g4,k- g3,k, it is obtained by following formula:
A4,k=T4,k-1+(g4,k-g3,k)×Δt
Wherein: T4,k-1The posture of finger part, g between last moment human finger root joint and middle joint4,kIt is current Moment finger root joint and middle joint between finger part angular speed, g3,kThe angular speed of current time hand, Δ t are to resolve week Phase.Δ t value is 0.02s, λ in the present embodiment in the present embodiment4Value is 0.3.
Current time finger root joint and middle joint between finger part low frequency posture B4,kAccording to gravitational vectors, earth magnetism Vector, relative acceleration a4,k-a3,k, relative magnetic field value m4,k-m3,kBy determining that sexual stance filtering algorithm obtains, especially by such as Lower formula obtains:
C(B4,k)=[G M G × M]/[a4,k-a3,k m4,k-m3,k(a4,k-a3,k)×(m4,k-m3,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a4,kCurrent time finger root joint and middle joint between finger section The acceleration divided, a3,kFor the acceleration of current time hand, m4,kThe finger section between current time finger root joint and middle joint The magnetic field value divided, m3,kFor the magnetic field value of current time hand, C (B4,k) it is B4,kAttitude matrix.
(2.5), in human finger between joint 6 and end joint 7 finger part posture, by with finger root joint 5 The relative angle T of finger part between middle joint 65,kIt indicates, is arranged between joint 6 and end joint 7 in human finger Sensor 1 measures the angular speed g of finger part between joint 6 and end joint 7 in current time finger5,k, joint 6 in finger The acceleration a of finger part between end joint 75,k, in finger between joint 6 and end joint 7 finger part magnetic field value m5,k, then it is g with respect to angular speed5,k-g4,k, relative acceleration a5,k-a4,k, relative magnetic field value be m5,k-m4,k, take wherein along The relative acceleration in finger part direction and acceleration of gravity resolve to obtain relative angle between joint and end joint in finger T5,k, specific formula is as follows:
Wherein: a5x,kThe acceleration in finger part direction, a between the joint along finger and end joint4x,kFor along finger The acceleration in finger part direction between root joint and middle joint.
The sensor 1 being arranged between joint 6 and end joint 7 in human finger measure in current time finger joint 6 with The angular speed g of finger part between end joint 75,k, in finger between joint 6 and end joint 7 finger part acceleration a5,k, in finger between joint 6 and end joint 7 finger part magnetic field value m5,kIt is three axis angular rate vector g5,k, three axis add Velocity vector a5,kWith three-axle magnetic field value vector m5,k, wherein a5x,kThe finger part side between the joint along finger and end joint To acceleration, can directly measure to obtain.Similarly, a4x,kFor the finger part direction between finger root joint and middle joint Acceleration can directly measure to obtain.
(2.6), between human finger end joint 7 and finger tip finger part posture, pass through the finger part and finger The relative angle T of finger part between middle joint 6 and end joint 76,kIt indicates, between human finger end joint 7 and finger tip The sensor 1 of setting measures the angular speed g of finger part between current time finger tips joint 7 and finger tip6,k, finger tips The acceleration a of finger part between joint 7 and finger tip6,k, the magnetic field value of finger part between finger tips joint 7 and finger tip m6,k, then it is g with respect to angular speed6,k-g5,k, relative acceleration a6,k-a5,k, relative magnetic field value be m6,k-m5,k, take wherein along The relative acceleration in finger part direction and acceleration of gravity resolve to obtain relative angle between finger tips joint and finger tip T6,k, specific formula is as follows:
Wherein: a6x,kFor the acceleration in the finger part direction between finger tips joint and finger tip, a5x,kFor along finger The acceleration in finger part direction between joint and end joint.Wherein a5x,k、a6x,kDirectly measurement obtains.
λ in the present invention1、λ3And λ4Value can be identical or different, three is identical in the embodiment of the present invention, and value is 0.3, Δ t value is 0.02s.
In the present invention between initial time human body large arm, forearm, the back of the hand and each joint of each finger finger part with And the posture of finger part can be setting value between end joint and finger tip.
System safety operation and shutdown, if human arm occurs emergency stop or jerky motion and leads to 4 turns of data processing display unit When the control instruction of change is more than the control instruction threshold value of mechanical arm 9 and manipulator 10, data processing unit 4 is by the control instruction Threshold value is sent to mechanical arm control unit 8 as control instruction, by mechanical arm control unit 8 to mechanical arm 9 and manipulator 10 carry out remote operating.By carrying out certain constraint to control instruction, prevent that the speed of mechanical arm is excessive or torque is excessive, Guarantee safe operation and the safe shutdown of mechanical arm 9 and manipulator 10.
The present invention carries out remote operating to mechanical arm by manpower, and mechanical arm is enabled to complete complexity as manpower Operation, mechanical arm can reappear the dexterous movement of human arm by the remote operating of human arm in real time, mechanical arm without carry out from The Motion trajectory of line, more quickly realizes inter-related task.Furthermore data glove fully considers the feature of human upper limb model, Each functional module is subjected to rational deployment, so that wearing is more convenient to use, comfortable, stability is higher, and is sufficiently examining Consider the calculation method designed in human upper limb feature base, so that calculation result is more accurate and reliable, and the direction captured is more It is more, it is more multidimensional, it can preferably be applied to the multiple fields such as human-computer interaction, remote operating, upper limb healing monitoring, such as basis Human body large arm, forearm, hand and each finger posture information, drive human upper limb simulation model in real time.
The attitude accuracy obtained in the embodiment of the present invention improves 20% than conventional method.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto, In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art, It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.

Claims (15)

1. a kind of mechanical arm remote control system, it is characterised in that: including data glove (11), data processing display unit (4), Mechanical arm control unit (8), mechanical arm (9) and manipulator (10), in which:
Data glove (11): including several sensors (1) and microprocessor (2), several described sensors (1) are respectively set Between each joint of the large arm of human body, forearm, the back of the hand and each finger, for acquiring the movement of human upper limb different parts Information;Microprocessor (2) is arranged on human body wrist, for receiving motion information from sensor (1), and by the motion information It is sent to data processing display unit (4);The motion information includes each of human body large arm, forearm, the back of the hand and each finger The angular speed of finger part, acceleration and magnetic field value between joint;
The wherein specific setting method of several sensors (1) are as follows: a sensor (1) is respectively set in the large arm of human body, forearm, Between the root joint (5) and middle joint (6) of middle finger, between middle joint (6) and end joint (7) and end joint (7) and refer to One sensor (1) is respectively set between point, and with a sensor (1) being arranged on the back of the hand, totally four sensors (1) form string Connection connection, in remaining finger between the root joint (5) and middle joint (6) of each finger, middle joint (6) and end joint (7) it Between and end joint (7) and finger tip between a sensor (1) is respectively set, three sensors (1) on each finger are formed It is connected in series;
Data processing display unit (4);The motion information that real-time reception microprocessor (2) is sent is resolved, and it is big to obtain human body The posture of arm, forearm, the back of the hand and each finger, and mechanical arm (9) is converted by the posture of wherein large arm, forearm and the back of the hand Control instruction, converts the posture of wherein each finger to the control instruction of manipulator (10), and by the control of the mechanical arm (9) The control instruction of system instruction and manipulator (10) is sent to mechanical arm control unit (8) in real time;
Mechanical arm control unit (8): the control for the mechanical arm (9) that real-time reception data processing display unit (4) is sent The control instruction of instruction and manipulator (10) carries out remote operating to mechanical arm (9) and manipulator (10) respectively, so that mechanical arm (9) posture is consistent with the posture of current time human body large arm, forearm and the back of the hand, so that the posture of manipulator (10) and current The posture of moment human finger is consistent;
The motion information that wherein data processing display unit (4) real-time reception microprocessor (2) is sent is resolved, and human body is obtained Large arm, forearm, the back of the hand and each finger posture the specific method is as follows:
(2.1), the posture T of current time human body large arm is calculated1,k, specific formula is as follows:
T1,k1×A1,k+(1-λ1)×B1,k
Wherein: A1,kFor the high frequency posture of current time large arm, B1,kFor the low frequency posture of current time large arm, λ1For complementary coefficient, Value is 0≤λ1≤1;K is moment sequence, the positive integer that value is >=1;
(2.2), the posture of current time human body forearm is calculated, the posture of human body forearm passes through the opposite folder between forearm and large arm Angle T2,kIt indicates, specific formula is as follows:
Wherein: a2x,kFor along the acceleration of human body forearm axis direction, a1x,kFor along the acceleration of human body large arm axis direction, g is gravity Acceleration;
(2.3), the posture T of current time human body hand is calculated3,k, specific formula is as follows:
T3,k3×A3,k+(1-λ3)×B3,k
Wherein: A3,kThe high frequency posture of current time hand, B3,kThe low frequency posture of current time hand, λ3For complementary coefficient, value 0 ≤λ3≤1;
(2.4), the posture T of finger part between current time human finger root joint (5) and middle joint (6) is calculated4,k, specifically Formula is as follows:
T4,k4×A4,k+(1-λ4)×B4,k
Wherein: A4,kThe high frequency posture of finger part, B between current time finger root joint and middle joint4,kFor current time The low frequency posture of finger part, λ between finger root joint and middle joint4For complementary coefficient, value is 0≤λ4≤1;
(2.5), calculate current time human finger between joint (6) and end joint (7) finger part posture, by with The angle T of finger part between finger root joint (5) and middle joint (6)5,kIt indicates, specific formula is as follows:
Wherein: a5x,kThe acceleration in finger part direction, a between the joint along finger and end joint4x,kTo be closed along finger root The acceleration in finger part direction between section and middle joint;
(2.6), the posture for calculating finger part between current time human finger end joint (7) and finger tip, by with finger The angle T of finger part between middle joint (6) and end joint (7)6,kIt indicates, specific formula is as follows:
Wherein: a6x,kFor the acceleration in the finger part direction between finger tips joint and finger tip.
2. a kind of mechanical arm remote control system according to claim 1, it is characterised in that: in the step (2.1) when The high frequency posture A of preceding moment large arm1,kIt is obtained by following formula:
A1,k=T1,k-1+g1,k×Δt
Wherein: T1,k-1For the posture of last moment large arm, g1,kFor the angular speed of current time large arm, Δ t is to resolve the period;
The low frequency posture B of the current time large arm1,kBy determining that sexual stance filtering algorithm obtains, especially by following formula It obtains:
C(B1,k)=[G M G × M]/[a1,k m1,k a1,k×m1,k]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a1,kFor the acceleration of current time large arm, m1,kFor current time large arm Magnetic field value, C (B1,k) it is B1,kAttitude matrix.
3. a kind of mechanical arm remote control system according to claim 1, it is characterised in that: in the step (2.3) when The high frequency posture A of preceding moment hand3,kIt is obtained by following formula:
A3,k=T3,k-1+(g3,k-g2,k)×Δt
Wherein: T3,k-1For the posture of last moment hand, g3,kFor the angular speed of current time hand, g2,kFor the angle of current time forearm Speed, Δ t are to resolve the period;
The low frequency posture B of the current time hand3,kBy determining that sexual stance filtering algorithm obtains, obtained especially by following formula It arrives:
C(B3,k)=[G M G × M]/[a3,k-a2,k m3,k-m2,k(a3,k-a2,k)×(m3,k-m2,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a3,kFor the acceleration of current time hand, a2,kFor current time forearm Acceleration, m3,kFor the magnetic field value of current time hand, m2,kFor the magnetic field value of current time forearm, C (B3,k) it is B3,kPosture square Battle array.
4. a kind of mechanical arm remote control system according to claim 1, it is characterised in that: in the step (2.4) when The high frequency posture A of finger part between preceding moment finger root joint (5) and middle joint (6)4,kIt is obtained by following formula:
A4,k=T4,k-1+(g4,k-g3,k)×Δt
Wherein: T4,k-1The posture of finger part, g between last moment human finger root joint and middle joint4,kFor current time The angular speed of finger part, g between finger root joint and middle joint3,kThe angular speed of current time hand, Δ t are to resolve the period;
The low frequency posture B of finger part between current time finger root joint (5) and middle joint (6)4,kBy determining sexual stance filter Wave algorithm obtains, and obtains especially by following formula:
C(B4,k)=[G M G × M]/[a4,k-a3,k m4,k-m3,k(a4,k-a3,k)×(m4,k-m3,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a4,kCurrent time finger root joint and middle joint between finger part Acceleration, a3,kFor the acceleration of current time hand, m4,kThe finger part between current time finger root joint and middle joint Magnetic field value, m3,kFor the magnetic field value of current time hand, C (B4,k) it is B4,kAttitude matrix.
5. a kind of mechanical arm remote control system according to one of claim 2-4, it is characterised in that: the λ1、λ3And λ4 Value are as follows: 0.2≤λ1≤ 0.5,0.2≤λ3≤ 0.5,0.2≤λ4≤0.5;The value for resolving period Δ t is 0.001- 0.1s。
6. a kind of mechanical arm remote control system described in one of -4 according to claim 1, it is characterised in that: be arranged in human body hand Back and each finger on sensor (1) be arranged on gloves, glove donning human body on hand.
7. a kind of mechanical arm remote control system described in one of -4 according to claim 1, it is characterised in that: the data glove (11) it is connect between each sensor (1) and using soft arranging wire (3) between sensor (1) and microprocessor (2) in, micro process By wirelessly or non-wirelessly connecting between device (2) and data processing display unit (4);The data glove (11) further includes that power supply is single Member, power supply unit setting is in the lower part of microprocessor (2), for powering for microprocessor (2) and sensor (1).
8. a kind of mechanical arm teleoperation method, it is characterised in that: realized by mechanical arm remote control system, the manipulator Arm remote control system includes data glove (11), data processing display unit (4), mechanical arm control unit (8), mechanical arm (9) and manipulator (10), wherein data glove (11) includes several sensors (1) and microprocessor (2), microprocessor (2) It is arranged on human body wrist, several sensors (1) are separately positioned on each of the large arm of human body, forearm, the back of the hand and each finger Between a joint, specific setting method an are as follows: sensor (1), the root joint of middle finger are respectively set in the large arm of human body, forearm (5) respectively it is arranged between middle joint (6), between middle joint (6) and end joint (7) and between end joint (7) and finger tip One sensor (1), and with a sensor (1) being arranged on the back of the hand, totally four sensors (1), which are formed, is connected in series, remaining In finger between the root joint (5) and middle joint (6) of each finger, between middle joint (6) and end joint (7) and end closes A sensor (1) is respectively set between section (7) and finger tip, three sensors (1) on each finger, which are formed, to be connected in series;
Concrete methods of realizing is as follows:
Step (1), by data processing display unit (4), mechanical arm control unit (8), mechanical arm (9) and manipulator (10) It is attached;
The initialization operation of step (2), mechanical arm remote control system, specifically comprises the following steps:
(1), data processing display unit (4) converts the posture of the initial time human body large arm of storage inside, forearm and the back of the hand For the control instruction of mechanical arm (9), manipulator (10) are converted by the posture of each finger of initial time human body of storage inside Control instruction, and the control instruction of the control instruction of the mechanical arm (9) and manipulator (10) is sent to manipulator in real time Arm control unit (8);
(2), the control for the mechanical arm (9) that mechanical arm control unit (8) real-time reception data processing display unit (4) is sent The control instruction of system instruction and manipulator (10), carries out remote operating to mechanical arm (9) and manipulator (10) respectively, so that mechanical arm (9) posture is consistent with the posture of initial time human body large arm, forearm and the back of the hand, so that the posture of manipulator (10) and initial The posture of moment human finger is consistent;
Step (3), the real-time of mechanical arm remote control system follow movement, specifically comprise the following steps:
(1), the motion information of sensor (1) the acquisition current time human upper limb different parts in data glove (11);Micro- place Reason device (2) will be sent to data processing display unit (4) from the motion information at sensor (1) the received current time;Institute It states the angular speed of finger part between each joint that motion information includes human body large arm, forearm, the back of the hand and each finger, accelerate Degree and magnetic field value;
(2), the motion information at the current time that data processing display unit (4) real-time reception microprocessor (2) is sent is solved It calculates, current time human body large arm, the posture of forearm, the back of the hand and each finger is obtained, by the appearance of wherein large arm, forearm and the back of the hand State is converted into the control instruction of mechanical arm (9), converts the posture of wherein each finger to the control instruction of manipulator (10), and The control instruction of the control instruction of the mechanical arm (9) and manipulator (10) is sent to mechanical arm control unit (8) in real time;
(3), the control for the mechanical arm (9) that mechanical arm control unit (8) real-time reception data processing display unit (4) is sent The control instruction of system instruction and manipulator (10), carries out remote operating to mechanical arm (9) and manipulator (10) respectively, so that mechanical arm (9) posture is consistent with the posture of current time human body large arm, forearm and the back of the hand, so that the posture of manipulator (10) and current The posture of moment human finger is consistent;
In (2) of the step (3), data processing display unit (4) resolves the motion information at current time specific Method is as follows:
(10.1), the posture T of current time human body large arm is calculated1,k, specific formula is as follows:
T1,k1×A1,k+(1-λ1)×B1,k
Wherein: A1,kFor the high frequency posture of current time large arm, B1,kFor the low frequency posture of current time large arm, λ1For complementary coefficient, Value is 0≤λ1≤1;K is moment sequence, the positive integer that value is >=1;
(10.2), the posture of current time human body forearm is calculated, the posture of human body forearm passes through opposite between forearm and large arm Angle T2,kIt indicates, specific formula is as follows:
Wherein: a2x,kFor along the acceleration of human body forearm axis direction, a1x,kFor along the acceleration of human body large arm axis direction, g is gravity Acceleration;
(10.3), the posture T of current time human body hand is calculated3,k, specific formula is as follows:
T3,k3×A3,k+(1-λ3)×B3,k
Wherein: A3,kThe high frequency posture of current time hand, B3,kThe low frequency posture of current time hand, λ3For complementary coefficient, value 0 ≤λ3≤1;
(10.4), the posture T of finger part between current time human finger root joint (5) and middle joint (6) is calculated4,k, specifically Formula is as follows:
T4,k4×A4,k+(1-λ4)×B4,k
Wherein: A4,kThe high frequency posture of finger part, B between current time finger root joint and middle joint4,kFor current time The low frequency posture of finger part, λ between finger root joint and middle joint4For complementary coefficient, value is 0≤λ4≤1;
(10.5), the posture for calculating finger part between joint (6) and end joint (7) in current time human finger, passes through The angle T of finger part between finger root joint (5) and middle joint (6)5,kIt indicates, specific formula is as follows:
Wherein: a5x,kThe acceleration in finger part direction, a between the joint along finger and end joint4x,kTo be closed along finger root The acceleration in finger part direction between section and middle joint;
(10.6), the posture for calculating finger part between current time human finger end joint (7) and finger tip, by with finger The angle T of finger part between middle joint (6) and end joint (7)6,kIt indicates, specific formula is as follows:
Wherein: a6x,kFor the acceleration in the finger part direction between finger tips joint and finger tip.
9. a kind of mechanical arm teleoperation method according to claim 8, it is characterised in that: in the step (10.1) when The high frequency posture A of preceding moment large arm1,kIt is obtained by following formula:
A1,k=T1,k-1+g1,k×Δt
Wherein: T1,k-1For the posture of last moment large arm, g1,kFor the angular speed of current time large arm, Δ t is to resolve the period;
The low frequency posture B of the current time large arm1,kBy determining that sexual stance filtering algorithm obtains, especially by following formula It obtains:
C(B1,k)=[G M G × M]/[a1,k m1,k a1,k×m1,k]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a1,kFor the acceleration of current time large arm, m1,kFor current time large arm Magnetic field value, C (B1,k) it is B1,kAttitude matrix.
10. a kind of mechanical arm teleoperation method according to claim 8, it is characterised in that: in the step (10.3) The high frequency posture A of current time hand3,kIt is obtained by following formula:
A3,k=T3,k-1+(g3,k-g2,k)×Δt
Wherein: T3,k-1For the posture of last moment hand, g3,kFor the angular speed of current time hand, g2,kFor the angle of current time forearm Speed, Δ t are to resolve the period;
The low frequency posture B of the current time hand3,kBy determining that sexual stance filtering algorithm obtains, obtained especially by following formula It arrives:
C(B3,k)=[G M G × M]/[a3,k-a2,k m3,k-m2,k(a3,k-a2,k)×(m3,k-m2,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a3,kFor the acceleration of current time hand, a2,kFor current time forearm Acceleration, m3,kFor the magnetic field value of current time hand, m2,kFor the magnetic field value of current time forearm, C (B3,k) it is B3,kPosture square Battle array.
11. a kind of mechanical arm teleoperation method according to claim 8, it is characterised in that: in the step (10.4) The high frequency posture A of finger part between current time finger root joint (5) and middle joint (6)4,kIt is obtained by following formula:
A4,k=T4,k-1+(g4,k-g3,k)×Δt
Wherein: T4,k-1The posture of finger part, g between last moment human finger root joint and middle joint4,kFor current time The angular speed of finger part, g between finger root joint and middle joint3,kFor the angular speed of current time hand, Δ t is to resolve the period;
The low frequency posture B of finger part between current time finger root joint (5) and middle joint (6)4,kBy determining sexual stance filter Wave algorithm obtains, and obtains especially by following formula:
C(B4,k)=[G M G × M]/[a4,k-a3,k m4,k-m3,k(a4,k-a3,k)×(m4,k-m3,k)]
Wherein: G is gravitational vectors, and M is ground magnetic vector, a4,kCurrent time finger root joint and middle joint between finger part Acceleration, a3,kFor the acceleration of current time hand, m4,kThe finger part between current time finger root joint and middle joint Magnetic field value, m3,kFor the magnetic field value of current time hand, C (B4,k) it is B4,kAttitude matrix.
12. a kind of mechanical arm teleoperation method according to one of claim 9-11, it is characterised in that: the λ1、λ3With λ4Value are as follows: 0.2≤λ1≤ 0.5,0.2≤λ3≤ 0.5,0.2≤λ4≤0.5;It is described resolve period Δ t value be 0.001-0.1s。
13. a kind of mechanical arm teleoperation method according to one of claim 8-11, it is characterised in that: be arranged in human body Sensor (1) on the back of the hand and each finger is arranged on gloves, glove donning human body on hand.
14. a kind of mechanical arm teleoperation method according to one of claim 8-11, it is characterised in that: the data hand It is connect between each sensor (1) and using soft arranging wire (3) between sensor and microprocessor (2) in set (11), micro process By wirelessly or non-wirelessly connecting between device (2) and data processing display unit (4);The data glove (11) further includes that power supply is single Member, power supply unit setting is in the lower part of microprocessor (2), for powering for microprocessor (2) and sensor (1).
15. a kind of mechanical arm teleoperation method according to one of claim 8-11, it is characterised in that: human arm occurs The control instruction that emergency stop or jerky motion cause data processing display unit (4) to convert is more than mechanical arm (9) and manipulator (10) Control instruction threshold value when, the control instruction threshold value is sent to mechanical arm control unit by data processing display unit (4) (8), remote operating is carried out to mechanical arm (9) and manipulator (10) by mechanical arm control unit (8).
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