CN107065618A - A kind of pneumatic software hand control system and its control method - Google Patents
A kind of pneumatic software hand control system and its control method Download PDFInfo
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- CN107065618A CN107065618A CN201710332875.5A CN201710332875A CN107065618A CN 107065618 A CN107065618 A CN 107065618A CN 201710332875 A CN201710332875 A CN 201710332875A CN 107065618 A CN107065618 A CN 107065618A
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- bending
- pneumatic software
- software hand
- value
- pneumatic
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The present invention relates to a kind of pneumatic software hand control system and control method, including controller, power amplifier, operational amplifier, baroceptor, bend sensor and host computer, wherein, baroceptor with pneumatic software hand inner chamber located at place is communicated, and its signal wire is connected to the input of controller；Bend sensor is covered on the inside of pneumatic software hand crooked position, and its signal wire is connected to the input of controller through operational amplifier；Controller carries out both-way communication with host computer and is connected, and controller delivers to Pneumatic component according to the control instruction output pwm signal of host computer through power amplifier, drives pneumatic software to make manually.The pneumatic software hand control system of the present invention, which can be realized, to be judged crawl spherical object size, and can realize that adaptive stabilizing is captured to object, has filled up the blank that pneumatic software hand controls system regions.
Description
Technical field
The present invention relates to a kind of pneumatic software hand, specially a kind of pneumatic software hand control system and its control method.
Background technology
Pneumatic software hand is by being prepared from soft, extending, incompressible silicone rubber kinds material.It is this kind of pneumatic
Software hand has high-flexibility, the infinite free degree.Compared with traditional Rigid Manipulators, by flexible material be prepared from it is pneumatic
Software hand with exterior object when contacting, and with passive adaptation, higher flexibility, being particularly suitable for non-structure environment needs
Ask, be conducive to increasing man-computer cooperation security, by the extensive favor of whole world researcher and research institution.
In the application field of pneumatic software hand, lack suitable flexible sensor characterize grasp force in its motion process with
Crawl position, moreover, most pneumatic software hand control system is all open cycle system now, it is impossible to realize closed loop feedback work(
Can, it is restricted its application field.
The content of the invention
It is open cycle system for pneumatic software hand in the prior art, the deficiencies such as closed loop feedback function can not be realized, the present invention
The problem of solving, which is to provide one kind, can realize to the judgement of crawl spherical object size and object can be realized adaptive
The pneumatic software hand control system and its control method of stable crawl.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of pneumatic software hand control system of the present invention, including controller, power amplifier, operational amplifier, air pressure transmission
Sensor, bend sensor and host computer, wherein, baroceptor is located at and communicates place with pneumatic software hand inner chamber, its signal wire
It is connected to the input of controller；Bend sensor is covered on the inside of pneumatic software hand crooked position, and its signal wire is through operation amplifier
Device is connected to the input of controller；Controller carries out both-way communication with host computer and is connected, and controller refers to according to the control of host computer
Make output pwm signal deliver to Pneumatic component through power amplifier, drive pneumatic software to make manually.
Pneumatic software hand has 3~5 to refer to.
Bend sensor is covered on the inside of a digital flexion position of pneumatic software hand, is kept not with finger relative position
Become.
With the not shrinkable fibrous layers for preventing that finger generation is radially expanded on the inside of finger.
A kind of pneumatic software hand control method of the present invention, including：Pc control procedure and pneumatic software hand control program,
Pc control procedure includes bending-pressure detecting subprogram and bending-diameter detection subprogram, wherein bending-diameter detection
Subprogram control process is as follows：
Host computer sends instruction, and controller receives above-mentioned instruction and produces pwm signal, drives pneumatic software hand bending to become
Shape；
Judge whether the pneumatic software hand chamber pressure of driving reaches desired value；
If being not reaching to desired value, pneumatic software hand continues to produce bending motion；
Prediction bending value is calculated by bending-pressure dependence module；
When predicting that bending value is more than actual measurement bending value, pneumatic software hand stop motion records bending value；
Calculated by bending-diameter Relationship module and obtain article diameters, and shown in host computer；
Pneumatic software hand resets to original state, and first order buckling-diameter detection process terminates.
When prediction bending value is more than actual measurement bending value, then goes to host computer and send instruction, controller receives above-mentioned instruction simultaneously
Pwm signal is produced, pneumatic software hand flexural deformation step is driven；
Or, if driving pneumatic software hand chamber pressure to reach desired value, pneumatic software hand resets to initial shape
State, then go to host computer and send instruction, controller receives above-mentioned instruction and produces pwm signal, drive pneumatic software hand bending to become
Shape step.
Bending-pressure dependence module is obtained by the fitting of MATLAB softwares, with relationship below
P=a0b+a1 (1)
Wherein, b is bending value, and p is pressure value, a0、a1It is fit parameter values；
Or, bending-diameter Relationship module is obtained by the fitting of MATLAB softwares, with relationship below
S=a0b2+a1b+a2 (2)
Wherein, b is that bending value, s are diameter value, a0、a1、a2It is fit parameter values.
Bending-pressure detecting subprogram control process is as follows：
Pneumatic software hand is produced after bending motion, judges whether the pneumatic software hand chamber pressure of driving reaches maximum；
If being not reaching to maximum, pneumatic software hand continues to produce bending motion；
Prediction bending value is calculated by bending-pressure dependence module；
When predicting that bending value is more than actual measurement bending value, record actual measurement bending value is obtained by bending-pressure dependence module
Desired pressure value, and weight coefficient is multiplied by, obtain stable state crawl pressure value；
Judge whether that the stable state for reaching demand captures the time；
If reaching the stable state crawl time of needs, first order buckling-pressure detecting process terminates.
If being not reaching to the stable state crawl time of needs, judge whether pneumatic software hand chamber pressure reaches that stable state is captured
Pressure value；
If pneumatic software hand chamber pressure reaches that stable state captures pressure value, keep sending from host computer to controller and protect
Pressure instruction is held, goes to and judges whether that the stable state for reaching demand captures time step.
If prediction bending value is not more than actual measurement bending value, goes to pneumatic software hand and produce bending motion step；
Or, if driving pneumatic software hand chamber pressure to reach maximum, pneumatic software hand resets to initial shape
State, goes to pneumatic software hand and produces bending motion step.
The invention has the advantages that and advantage：
Crawl spherical object size is judged 1. pneumatic software hand control system of the invention can be realized, and can be to thing
Body realizes that adaptive stabilizing is captured, and has filled up the blank that pneumatic software hand controls system regions.
2. the present invention can make the crawl task of the adaptive irregular shape structural objects of pneumatic software hand, i.e., being capable of badge
The antenna that fish stretches out is the same, and object is wound, and applies grasp force and realizes that envelope is captured；Based on embedded bend sensor,
The various strength characteristics for being crawled object " can be adapted to ", realizes and different sizes and the stable of mass objects is captured；Will be pneumatic
Software hand has broken away from the limitation of large-scale air compressor machine together with the micropump voltage supply system integration, expands it and uses scope, can be with
As service robot, the end effector occasion of industrial robot and specialized robot etc. is applied.
Brief description of the drawings
Fig. 1 is the structural representation of pneumatic software hand control system of the invention；
Fig. 2 is pneumatic software hand control system article diameters recognizer flow chart of the invention；
Fig. 3 is the pneumatic stable capture program flow chart of software hand control system self-adaption of the invention.
Embodiment
With reference to Figure of description, the present invention is further elaborated.
As shown in figure 1, a kind of pneumatic software hand control system of the present invention, including controller, power amplifier, operation amplifier
Device, baroceptor, bend sensor and host computer, wherein, baroceptor is located at and communicates place with pneumatic software hand inner chamber,
Its signal wire is connected to the input of controller；Bend sensor is covered on the inside of pneumatic software hand crooked position, its signal wire warp
Operational amplifier is connected to the input of controller；Controller carries out both-way communication with host computer and is connected, and controller is according to host computer
Control instruction output pwm signal deliver to Pneumatic component through power amplifier, drive pneumatic software to make manually.
It is that power amplifier and operational amplifier provide working power by dc source in the present embodiment.Pneumatic software
Hand is 3~5 fingers；Bend sensor is covered on the inside of a digital flexion position of pneumatic software hand, is protected with finger relative position
Hold constant.With the not shrinkable fibrous layers for preventing that finger generation is radially expanded on the inside of finger.
Bend sensor is used in the product of company of Ao Song robots, the present embodiment, and the bend sensor is FLX-03A types
Bend in one direction sensor, its important technological parameters have：Thickness：0.019 inch, operating temperature：- 45 DEG C -125 DEG C, its straight state
Resistance：14k ohm, bending resistance change：It is 10k~40k ohm, long × wide：41/2 inch * 1/4 inch.
There is pc control procedure in host computer, including pneumatic software hand control system article diameters recognizer is gentle
The dynamic stable capture program of software hand control system self-adaption, be respectively used to pneumatic software hand crawl spherical object size identification and
Adaptive stabilizing crawl control is realized to object；And by serial communication, the simulation mouth and digital mouth of realization and controller
Data transfer.
Controller has the digital mouth data of read/write and reads the function of simulation mouth data, so as to realize that it is gentle with host computer
Pressure sensor, bend sensor communication.
Power amplifier is amplified to pwm signal power, and operational amplifier carries out operation amplifier, gas to analog voltage amount
Pressure sensor measures pneumatic software hand inner chamber relative barometric pressure value, and the numerical value can characterize pneumatic software hand to grasping body power size
Degree.Bend sensor measures pneumatic software hand crawl object bending value, and the numerical value can characterize pneumatic software hand and object is grabbed
Take degree of crook.
A kind of pneumatic software hand control method of the present invention, including：Pc control procedure and pneumatic software hand control program,
Pc control procedure includes bending-pressure detecting subprogram and bending-diameter detection subprogram, wherein bending-diameter detection
Subprogram control process is as shown in Figure 2：
Host computer sends instruction, and controller receives above-mentioned instruction and produces pwm signal, drives pneumatic software hand bending to become
Shape；
Judge whether the pneumatic software hand chamber pressure of driving reaches desired value；
If being not reaching to desired value, pneumatic software hand continues to produce bending motion；
Prediction bending value is calculated by bending-pressure dependence module；
When predicting that bending value is more than actual measurement bending value, pneumatic software hand stop motion records bending value；
Calculated by bending-diameter Relationship module and obtain article diameters, and shown in host computer；
Pneumatic software hand resets to original state, and first order buckling-pressure detecting process terminates.
When prediction bending value is more than actual measurement bending value, then goes to host computer and send instruction, controller receives above-mentioned instruction simultaneously
Pwm signal is produced, pneumatic software hand flexural deformation step is driven；
Or, if driving pneumatic software hand chamber pressure to reach desired value, pneumatic software hand resets to initial shape
State, then go to host computer and send instruction, controller receives above-mentioned instruction and produces pwm signal, drive pneumatic software hand bending to become
Shape step.
Bending-pressure detecting subprogram control process is as shown in Figure 3：
Pneumatic software hand is produced after bending motion, judges whether the pneumatic software hand chamber pressure of driving reaches maximum；
If being not reaching to maximum, pneumatic software hand continues to produce bending motion；
Prediction bending value is calculated by bending-pressure dependence module；
When predicting that bending value is more than actual measurement bending value, record actual measurement bending value is obtained by bending-pressure dependence module
Desired pressure value, and weight coefficient is multiplied by, obtain stable state crawl pressure value；
Judge whether that the stable state for reaching demand captures the time；
If reaching the stable state crawl time of needs, first order buckling-pressure detecting process terminates.
If being not reaching to the stable state crawl time of needs, judge whether pneumatic software hand chamber pressure reaches that stable state is captured
Pressure value；
If pneumatic software hand chamber pressure reaches that stable state captures pressure value, keep sending from host computer to controller and protect
Pressure instruction is held, goes to and judges whether that the stable state for reaching demand captures time step.
If prediction bending value is not more than actual measurement bending value, goes to pneumatic software hand and produce bending motion step；
Or, if driving pneumatic software hand chamber pressure to reach maximum, pneumatic software hand resets to initial shape
State, goes to pneumatic software hand and produces bending motion step.
In the present invention, host computer includes bending-pressure dependence module and bending-diameter Relationship module, corresponds to respectively pneumatic
The software hand stable capture program of control system self-adaption and pneumatic software hand control system article diameters recognizer.Wherein, it is curved
Song-pressure dependence module is to send to instruct by pc control procedure, is received by controller and instructs and produce pwm signal, should
Signal drives the Pneumatic component of pneumatic software hand by power amplifier, causes pneumatic software hand flexural deformation.In the process,
The bend sensor that controller reads the baroceptor relative pressure measured and amplified via operational amplifier in real time is surveyed
The bending value measured.The bending value and relative pressure that controller is read in real time are sent to pc control procedure again, and remember
These lower data of record.After the action of pneumatic software hand pick-and-place is completed once, using curve matching knowledge to the bending value that measures
It is fitted with relative pressure, is bent-pressure dependence module.
In the present embodiment, bending-pressure dependence module can must have following relation by MATLAB softwares Fitting Toolbox
Formula
P=a0b+a1 (1)
Wherein, b represents that bending value, p represent pressure value, a0And a1For fit parameter values.
Bending-diameter Relationship module is to send to instruct by pc control procedure, is received by controller and instructs and produce
Pwm signal, the signal drives the Pneumatic component of pneumatic software hand by power amplifier, causes pneumatic software hand flexural deformation,
And the spherical object of different-diameter is captured respectively.In the process, controller reads the bending amplified through operational amplifier in real time
The bending value that sensor is measured, and record bending value of the finger not when producing deformation.Pneumatic software hand is completed to five
After the pick-and-place action of group different-diameter spherical object, the bending value and diameter that measure are fitted using curve matching knowledge,
It is bent-diameter Relationship module.
In the present embodiment, bending-diameter Relationship module can must have following relation by MATLAB softwares Fitting Toolbox
Formula
S=a0b2+a1b+a2 (2)
Wherein, b represents that bending value, s represent diameter value, a0、a1And a2For fit parameter values.
Pneumatic software hand control system is completed to the worked of different-diameter spherical object Dimensions recognition and self-adapting grasping
Journey is as follows：
Start the pc control procedure comprising bending-pressure dependence module and bending-diameter Relationship module, controller connects
Receive and instruct and produce pwm signal, the signal drives the Pneumatic component of pneumatic software hand by power amplifier, causes pneumatic software
Hand flexural deformation.In the process, controller reads the bending that the bend sensor amplified through operational amplifier is measured in real time
It is worth and transmits to pc control procedure, bending value when pneumatic software hand no longer produces deformation is recorded in the process.Root
Bending-diameter Relationship module in bending value accordingly, pc control procedure predicts the diameter of crawl spherical object, and shows
Out.Meanwhile, crawl is calculated by bending-pressure dependence module and expects relative pressure, and weight coefficient is multiplied by, obtain
Stable state captures pressure value, and pc control procedure records stable state crawl pressure value, the baroceptor read by controller
Relative pressure, feeds back to pc control procedure, judges now relative pressure and the error of stable state crawl pressure value, according to
Error size, pc control procedure exports different instructions, changes the PWM value of controller output, and then controls to put through power
Big device drives the drive signal of pneumatic software luck dynamic component, finally controls the form of pneumatic software hand, realizes adaptive stabilizing
Crawl.
Claims (10)
1. a kind of pneumatic software hand control system, it is characterised in that：Including controller, power amplifier, operational amplifier, air pressure
Sensor, bend sensor and host computer, wherein, baroceptor is located at and communicates place with pneumatic software hand inner chamber, its signal
Line is connected to the input of controller；Bend sensor is covered on the inside of pneumatic software hand crooked position, and its signal wire is put through computing
Big device is connected to the input of controller；Controller and host computer carry out both-way communication and are connected, and controller is according to the control of host computer
Instruction output pwm signal delivers to Pneumatic component through power amplifier, drives pneumatic software to make manually.
2. the described pneumatic software hand control system according to claim 1, it is characterised in that：Pneumatic software hand is 3~5 fingers.
3. the described pneumatic software hand control system according to claim 1, it is characterised in that：Bend sensor is covered on pneumatic soft
On the inside of one digital flexion position of body hand, keep constant with finger relative position.
4. the described pneumatic software hand control system according to claim 1, it is characterised in that：Having on the inside of finger prevents finger from producing
The raw not shrinkable fibrous layers being radially expanded.
5. a kind of pneumatic software hand control method, it is characterised in that including：Pc control procedure and the manual processing procedure of pneumatic software
Sequence, pc control procedure includes bending-pressure detecting subprogram and bending-diameter detection subprogram, wherein bending-diameter inspection
Survey subprogram control process as follows：
Host computer sends instruction, and controller receives above-mentioned instruction and produces pwm signal, drives pneumatic software hand flexural deformation；
Judge whether the pneumatic software hand chamber pressure of driving reaches desired value；
If being not reaching to desired value, pneumatic software hand continues to produce bending motion；
Prediction bending value is calculated by bending-pressure dependence module；
When predicting that bending value is more than actual measurement bending value, pneumatic software hand stop motion records bending value；
Calculated by bending-diameter Relationship module and obtain article diameters, and shown in host computer；
Pneumatic software hand resets to original state, and first order buckling-diameter detection process terminates.
6. the described pneumatic software hand control method according to claim 5, it is characterised in that：When prediction bending value is curved more than surveying
Song value, then go to host computer and send instruction, controller receives above-mentioned instruction and produces pwm signal, drive pneumatic software hand bending
Deforming step；
Or, if driving pneumatic software hand chamber pressure to reach desired value, pneumatic software hand resets to original state, then
Go to host computer and send instruction, controller receives above-mentioned instruction and produces pwm signal, drive pneumatic software hand flexural deformation step
Suddenly.
7. the described pneumatic software hand control method according to claim 5, it is characterised in that：Bending-pressure dependence module passes through
The fitting of MATLAB softwares is obtained, with relationship below
P=a0b+a1 (1)
Wherein, b is bending value, and p is pressure value, a0、a1It is fit parameter values；
Or, bending-diameter Relationship module is obtained by the fitting of MATLAB softwares, with relationship below
S=a0b2+a1b+a2 (2)
Wherein, b is that bending value, s are diameter value, a0、a1、a2It is fit parameter values.
8. the described pneumatic software hand control method according to claim 5, it is characterised in that：Bending-pressure detecting subprogram control
Process processed is as follows：
Pneumatic software hand is produced after bending motion, judges whether the pneumatic software hand chamber pressure of driving reaches maximum；
If being not reaching to maximum, pneumatic software hand continues to produce bending motion；
Prediction bending value is calculated by bending-pressure dependence module；
When predicting that bending value is more than actual measurement bending value, record actual measurement bending value is expected by bending-pressure dependence module
Pressure value, and weight coefficient is multiplied by, obtain stable state crawl pressure value；
Judge whether that the stable state for reaching demand captures the time；
If reaching the stable state crawl time of needs, first order buckling-pressure detecting process terminates.
9. the described pneumatic software hand control method according to claim 8, it is characterised in that：If being not reaching to the stable state of needs
The crawl time, judge whether pneumatic software hand chamber pressure reaches that stable state captures pressure value；
If pneumatic software hand chamber pressure reaches that stable state captures pressure value, keep sending holding pressure from host computer to controller
Power is instructed, and is gone to and is judged whether that the stable state for reaching demand captures time step.
10. the described pneumatic software hand control method according to claim 8, it is characterised in that：
If prediction bending value is not more than actual measurement bending value, goes to pneumatic software hand and produce bending motion step；
Or, if driving pneumatic software hand chamber pressure to reach maximum, pneumatic software hand resets to original state, turns
Bending motion step is produced to pneumatic software hand.
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| CN109436787A (en) * | 2018-12-21 | 2019-03-08 | 广东赛德英斯智能装备有限公司 | A kind of weight self-adapting type article grasping means and the device for realizing this method |
| CN109533458A (en) * | 2018-12-21 | 2019-03-29 | 广东赛德英斯智能装备有限公司 | A kind of soft device for touching grasping means and realizing this method of type self-adapting type article |
| CN109850259A (en) * | 2018-12-21 | 2019-06-07 | 广东赛德英斯智能装备有限公司 | The soft touching gripping-type article packaging facilities of one kind and its packing method |
| CN110244564A (en) * | 2019-06-20 | 2019-09-17 | 清华大学深圳研究生院 | A kind of sliding mode variable structure control method applied to gas drive soft robot |
| CN110948526A (en) * | 2019-11-13 | 2020-04-03 | 南方科技大学 | Sensing method of gas driver and gas driving system |
| CN112757283A (en) * | 2020-12-11 | 2021-05-07 | 北京信息科技大学 | Pneumatic drive control method for double-module soft manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109436787A (en) * | 2018-12-21 | 2019-03-08 | 广东赛德英斯智能装备有限公司 | A kind of weight self-adapting type article grasping means and the device for realizing this method |
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| CN110948526A (en) * | 2019-11-13 | 2020-04-03 | 南方科技大学 | Sensing method of gas driver and gas driving system |
| CN110948526B (en) * | 2019-11-13 | 2022-03-01 | 南方科技大学 | Sensing method of gas driver and gas driving system |
| CN112757283A (en) * | 2020-12-11 | 2021-05-07 | 北京信息科技大学 | Pneumatic drive control method for double-module soft manipulator |
| CN112757283B (en) * | 2020-12-11 | 2023-03-21 | 北京信息科技大学 | Pneumatic drive control method for double-module soft manipulator |
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|---|---|
| CN107065618B (en) | 2019-11-29 |
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| WO2022244441A1 (en) | Manipulator |
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