CN107322601A - The attitudes vibration detection means and method of a kind of object gripped by manipulator - Google Patents
The attitudes vibration detection means and method of a kind of object gripped by manipulator Download PDFInfo
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- CN107322601A CN107322601A CN201710691102.6A CN201710691102A CN107322601A CN 107322601 A CN107322601 A CN 107322601A CN 201710691102 A CN201710691102 A CN 201710691102A CN 107322601 A CN107322601 A CN 107322601A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a kind of attitudes vibration detection means of object gripped by manipulator and method；Detection means includes：Manipulator grips system, and the manipulator gripping system includes manipulator and two mechanical fingers；The manipulator is cross bar, and two mechanical fingers are the montant vertical with cross bar, and two mechanical fingers are separately mounted to the two ends of cross bar；Described two mechanical fingers are used to clamp object；Embedded on one of mechanical finger and the 3rd sliding feeling sensor sensor3 is embedded on the first sliding feeling sensor sensor1 and the second sliding feeling sensor sensor2, another mechanical finger；Each sliding feeling sensor is used to detection slide displacement amount and glide direction；Each sliding feeling sensor is connected by corresponding A/D converter with memory, and the memory is connected with DSP, and the DSP is connected by USB interface with control computer.So as to realize the quantitative detection of gestures of object change.Detection method can be further used for being gripped the monitoring of object continuous path and track.
Description
Technical field
The present invention relates to a kind of attitudes vibration detection means of object gripped by manipulator and method, it is related to robot behaviour
Control field.
Background technology
Robot realizes stabilization to object, flexibly gripping in non-structure environment, be in robotics development most
One of research field of challenge.In actually gripping operation, inclination, sliding, rotation etc. are unavoidably occurred by gripping object
Situations such as attitudes vibration, the translation such as along x, y, z axle and the corner change around three axles.If can be to by the posture of gripping object
Change carries out Real_time quantitative detection and feeds back to manipulator, and Manipulator Controller can make corresponding behaviour according to these real time datas
Make, be then greatly improved the stability of gripping and the flexibility of operation.
At present, to mainly having two classes by the attitudes vibration detection method of gripping object：One is to use visible sensation method, that is, is passed through
Monitored in manipulator disposed outside camera by the attitudes vibration of gripping object, this method has the disadvantage camera light Louis by workpiece
Or manipulator is blocked, the scope of application is influenceed, in addition, Detection results are also more sensitive to ambient lighting；Two be to use tactile sensing
Device method, i.e., by mechanical finger and grabbed the tactile sensing information of object and judge to be gripped the attitudes vibration of object, this
Method is although can overcome the shortcoming of visible sensation method, and it has the disadvantage qualitatively to detect, can only detect by gripping gestures of object
Change is translation, rotation or rolled, it is impossible to carry out quantitative measurment to attitudes vibration.
The content of the invention
The invention aims to overcome the deficiencies in the prior art, a kind of posture of the object gripped by manipulator is proposed
Change detecting device and method, this method realize that its principle is by three sliding feeling sensors being embedded into mechanical finger
It is then empty by geometry first using body surface slide displacement amount size and direction before and after the change of sliding feeling sensor test pose
Anaplasia is got the translation distance by gripping object along x, y, z direction in return and changed around the corner of x, y, z axle, so as to realize object appearance
The quantitative detection of state change.Detection method can be further used for being gripped the monitoring of object continuous path and track.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of attitudes vibration detection means of the object gripped by manipulator, including：Manipulator grips system, the machinery
Hand gripping system includes manipulator and two mechanical fingers；The manipulator is cross bar, and two mechanical fingers are to be hung down with cross bar
Straight montant, two mechanical fingers are separately mounted to the two ends of cross bar；Described two mechanical fingers are used to clamp object；
The first sliding feeling sensor sensor1 and the second sliding feeling sensor sensor2 is embedded on one of mechanical finger, separately
The 3rd sliding feeling sensor sensor3 is embedded on an outer mechanical finger；Three sliding feeling sensors are that isotropic directivity slides feel sensing
Device, each sliding feeling sensor is used to detection slide displacement amount and glide direction；
Each sliding feeling sensor is connected by corresponding A/D converter with memory, and the memory is connected with DSP,
The DSP is connected by USB interface with control computer.
A kind of attitudes vibration detection method of the object gripped by manipulator, comprises the following steps：
Step (1)：Set up robot coordinate system O-XYZ；Set up by gripping object coordinates system o-xyz；Three sliding feels are passed
Sensor is respectively installed in mechanical finger；
Step (2)：Mechanical finger gripping object on manipulator, each sliding feeling sensor collection is by the coordinate of gripping object
Value；
Under current state state (n-1), the coordinate value of i-th of sliding feeling sensor output is：
Wherein, i=1,2..., 3, corresponding to sensor1, sensor2, tri- sliding feeling sensors of sensor3；
In the case where the state state (n) after sliding is produced on mechanical finger by gripping object, i-th of sliding feeling sensor
The coordinate value of output is：
Step (3)：By sensor1, sensor2, the coordinate value of tri- sliding feeling sensor detection outputs of sensor3 is expressed as
Point set P={ p1,p2,p3, then
Corresponding to state (n-1) state, sensor1, sensor2, tri- sliding feeling sensor detections of sensor3 are exported
Point set Pstate(n-1)It is expressed as：
Wherein,First sliding feeling sensor sensor1 detections output under state (n-1) state of expression
Coordinate value；
The seat of second sliding feeling sensor sensor2 detections output under state (n-1) state of expression
Scale value；
The seat of 3rd sliding feeling sensor sensor3 detections output under state (n-1) state of expression
Scale value；
Corresponding to state (n) states, sensor1, sensor2, the point set of tri- sensor detection outputs of sensor3
Pstate(n)It is expressed as：
Wherein,The seat of first sliding feeling sensor sensor1 detections output under state (n) state of expression
Scale value；
The coordinate value of second sliding feeling sensor sensor2 detections output under state (n) state of expression；
The coordinate of 3rd sliding feeling sensor sensor3 detections output under state (n) state of expression
Value；
Then, two point set Pstate(n-1)With Pstate(n)Between relational expression be expressed as：
Pstate(n)=RPstate(n-1)+ T, (1)；
Wherein,It is the spin matrix between two point sets；T=[t11 t12 t13]TBe two point sets it
Between translation matrix；Spin matrix includes testee by state state (n-1) to rotation information during state (n)；It is flat
Move matrix and include testee by state state (n-1) to translation information during state (n)；
Step (4)：Spin matrix R and translation matrix T is solved based on cross covariance matrix singular value decomposition method, point
The straight-line displacement Δ x, Δ y, the Δ z that obtain being gripped object in x, y, z direction of principal axis are not calculated by spin matrix R and translation matrix T
And around rotational angle theta x, θ y, θ z of three reference axis；So as to realize the detection of the attitudes vibration of object；
Δ x=t11, (2)；
Δ y=t12, (3)；
Δ z=t13, (4)；
θx=atan2 (r32,r33), (5)；
θz=atan2 (r21,r11), (7)；
Wherein, atan2 () is arctan function.
The step (4) is based on cross covariance matrix singular value decomposition method and solves spin matrix R and translation matrix T
The step of be：
Step (401)：
Define rotating vector：Wherein, q0＞ 0, and,
Define translation vector：
ByWithBuild complete state vector：
Step (402)：Build target equationBy iteration, makeIt is intended to 0,
Step (403)：Calculate point set Pstate(n-1)BarycenterCalculate point set Pstate(n)Barycenter
Then, point set Pstate(n-1)And Pstate(n)Cross covariance matrix ∑ p be expressed as：
Optimal spin matrix is calculated with cross covariance matrix ∑ p, and calculates optimal translation vector, step is：
Build antisymmetric matrixAnd constitute column vector with the cyclical component of antisymmetric matrix：
Δ=[A23 A31 A12]T, with column vector Δ=[A23 A31 A12]TFurther construct 4*4 symmetrical matrixes Q (∑ p)：
Wherein, I3It is 3*3 unit matrixs, corresponding to matrix Q, (characteristic vector of ∑ p) eigenvalue of maximum is rotating vectorSpin matrix R is obtained using the component of rotating vector,
Calculate translation vector
Calculate translation matrix T：
Step (5)：Detection is by the multi-pose consecutive variations situation of gripping object, using formula (1), makes n=1, and 2 ... ..., obtain
To by the continuous path change of gripping object, realize to by the monitoring and tracking of gripping object.
It is preferred that, in the step (1), the step of setting up robot coordinate system O-XYZ is：
Using the direction with the vertical direction centerline parallel of montant as Y-axis, using with cross bar and Y-axis vertical direction as X
Axle, using with X-axis and Y-axis vertical direction as Z axis；
It is preferred that, in the step (1), the step of setting up by gripping object coordinates system o-xyz is：
Using central axis on the vertical section of held object as x-axis, with parallel with Z axis on the cross section of held object
Line z-axis, using on by the vertical section of gripping object with x-axis and z-axis vertical line as y-axis；
It is preferred that, in the step (1), three sliding feeling sensors are respectively installed to the position in mechanical finger：
In the Y-axis direction, the triangle of three sliding feeling sensor compositions should be parallel with O-XZ faces；
3rd sliding feeling sensor sensor3 is located at the center of mechanical finger in the X-axis direction；
First sliding feeling sensor sensor1 and the second sliding feeling sensor sensor2 are vertical on mechanical finger in the X direction
Center line is symmetrical.
Beneficial effects of the present invention：
1. the present invention can be detected quantitatively by the attitudes vibration amount of gripping object, including translation distance, the anglec of rotation etc.,
Using these detection limits, can easily it realize to being monitored and being tracked by the continuous path of gripping object.
2. the present invention is realized by being embedded in the sliding feeling sensor inside mechanical finger, simple in construction, not by external rings
Border influences, strong antijamming capability.
Brief description of the drawings
Fig. 1 is the composition of detecting system of the present invention；
Fig. 2 (a) is sliding feeling sensor sensor1 Cleaning Principle schematic diagram；
Fig. 2 (b) is sliding feeling sensor sensor2 Cleaning Principle schematic diagram；
Fig. 2 (c) is sliding feeling sensor sensor3 Cleaning Principle schematic diagram；
Fig. 3 is the electric connecting relation figure of three sliding feeling sensors and Manipulator Controller；
Wherein, 1, manipulator, 2, mechanical finger, 3, sliding feeling sensor, 4, by gripping object.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, the detecting system that designs of the present invention by manipulator 1, mechanical finger 2, three sliding feeling sensors 3 and
Constituted by gripping object 4.Wherein, manipulator 1 and the composition manipulator gripping system of mechanical finger 2；Sliding feeling sensor 3 is three complete
Directionality sliding feeling sensor, the sensor can detect slide displacement amount size, and glide direction can be detected again.Such as Fig. 2 (a), Fig. 2
(b) it is and shown in Fig. 2 (c) sliding feeling sensor sensor1, sensor2, sensor3 Cleaning Principle schematic diagram, wherein state
(n-1) coordinate that lower three sensors of current state are detected respectively is represented；State (n) is represented when by gripping object and machinery
After finger surface is slided, the changes in coordinates situation that each sensor is detected.In the present invention, three sliding feeling sensors are (such as
Following principle arrangement Fig. 1) is installed：
1. in the Y-axis direction, three sensor groups into triangle should be parallel with O-XZ faces；
2. the 3rd sliding feeling sensor sensor3 is located at the center of mechanical finger in the X-axis direction；
3. the first sliding feeling sensor sensor1 and the second sliding feeling sensor sensor2 are in the X direction in mechanical finger
Heart line is symmetrical.
As shown in figure 1, in the present invention with by gripping object x, y, z direction of principal axis straight-line displacement Δ x, Δ y, Δ z, and
Described around rotational angle theta x, θ y, θ z of three reference axis by grip object by state state (n-1) (in Fig. 1 by gripping object
4) state state (n) (in Fig. 1 shown in dotted line) attitudes vibration is arrived, main task of the invention is to realize these parameters
Detection.
In order to realize the detection of above-mentioned each parameter, realization principle of the invention is as follows：
1. as shown in Fig. 2 (a)-Fig. 2 (c), it is assumed that in working as each sliding feeling sensor detection outputs of state state (n-1)
Preceding coordinate value is respectively:(correspond to state after slip is produced by gripping object and mechanical finger
State (n)), the present coordinate values of each sliding feeling sensor detection output are expressed as:Wherein, i=1,
2..., m, herein, m=3, corresponding to sensor1, sensor2, tri- sliding feeling sensors of sensor3.
2. the present coordinate values for three sensors being detected into output are expressed as point set P={ p0,p1,p2, then correspond to
Two states of state (n-1) and state (n), the point set of three sensor detection outputs is expressed as：
And
Then, the relational expression between two point sets is expressed as：
Pstate(n)=RPstate(n-1)+ T, (1)；
Wherein, matrixWith T=[t11 t12 t13]TBe respectively spin matrix between two point sets and
Translation matrix.The two matrixes include testee by state state (n-1) to rotation information during state (n) and translation
Information.
3. respectively by matrix T and R calculate obtain describe gestures of object change parameters Δ x, Δ y, Δ z and θ x, θ y,
θz.Specially：
Δ x=t11, (2)；
Δ y=t12, (3)；
Δ z=t13, (4)；
θx=atan2 (r32,r33), (5)；
θz=atan2 (r21,r11), (7)；
Wherein, atan2 () is arctan function.
Therefore, in order to solve the parameters of description attitudes vibration, it is necessary to according to point set Pstate(n-1)And Pstate(n)
Solve in spin matrix R and translation matrix T, the present invention, based on cross covariance matrix singular value decomposition (SVD) method, quilt
Calculating for the two matrixes.Concretely comprise the following steps：
Its solution procedure is as follows：
1. rotating vector is defined：Wherein, q0＞ 0, and,
Define translation vector：ByWithBuild complete state vector：
2. target equation is builtBy iteration, it is set to be intended to 0,
3. point set P is calculatedstate(n-1)Barycenter,
Calculate point set Pstate(n)Barycenter,
In formula, m=3.
Then, point set Pstate(n-1)And Pstate(n)Cross covariance matrix be expressed as：
(4) optimal spin matrix is calculated with cross covariance matrix ∑ p, and calculates optimal translation vector, step is：
Build antisymmetric matrixAnd constitute column vector with its cyclical component：Δ=[A23 A31
A12]T, 4*4 symmetrical matrixes are further constructed with this column vector：
Wherein, I3It is 3*3 unit matrixs, corresponding to matrix Q, (characteristic vector of ∑ p) eigenvalue of maximum is rotating vectorBring its component into following formula and can be obtained by spin matrix R,
Translation vector is further calculated,
Then, translation matrix is calculated by following formula；
Calculated respectively according to above step and obtain translation matrix T and spin matrix R, calculated respectively using formula (2)-(7)
To by gripping object x, y, z direction of principal axis straight-line displacement Δ x, Δ y, Δ z, and around rotational angle theta x, θ y, θ of three reference axis
Z, so as to realize the detection of the attitudes vibration of object.
Above-mentioned steps are given by two adjacent states of gripping object, from state (n-1) to state (n) attitudes vibrations
Detection method, if desired for detection by the multi-pose consecutive variations situation of gripping object, using formula (1), makes n=1,
2... it ..., i.e. can obtain being gripped the continuous path change of object, realize to by the monitoring and tracking of gripping object.
The electric connecting relation of three sliding feeling sensors sensor1, sensor2, sensor3 and Manipulator Controller is as schemed
Shown in 3.The electric signal of three sliding feeling sensor outputs is changed into being stored in memory after data signal respectively through A/D converter
In, DPS processors read the input signal of three sliding feeling sensors and generate present coordinate values respectively from memory.It is current to sit
The generation method of scale value is as follows：
The corresponding coordinate value of the input signal of three sensors is initial coordinate values when 1. gripping object for the first time using manipulator,
It is designated as respectivelyWherein, C is sliding feeling sensor
Distance between sensor1 and sensor2 installation centers in the x-direction；D is the distance of two mechanical fingers (montant) in the z-direction.
And the initial coordinate values are stored in memory；
2. the slide displacement amount size exported based on initial coordinate values according to isotropic directivity sliding feeling sensor and slip
Direction, the present coordinate values of three sensors obtained under state state (n) are calculated by coordinate.
Present coordinate values are sent to control computer through USB communication module, then by control computer by calculating completion quilt
Grip the attitudes vibration detection of object.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (9)
1. a kind of attitudes vibration detection means of the object gripped by manipulator, it is characterized in that, including：Manipulator grips system,
The manipulator gripping system includes manipulator and two mechanical fingers；The manipulator is cross bar, and two mechanical fingers are
The montant vertical with cross bar, two mechanical fingers are separately mounted to the two ends of cross bar；Described two mechanical fingers are used to clamp thing
Body；
The first sliding feeling sensor sensor1 and the second sliding feeling sensor sensor2, in addition one are embedded on one of mechanical finger
The 3rd sliding feeling sensor sensor3 is embedded on individual mechanical finger；Three sliding feeling sensors are isotropic directivity sliding feeling sensor, often
Individual sliding feeling sensor is used to detection slide displacement amount and glide direction；
Each sliding feeling sensor is connected by corresponding A/D converter with memory, and the memory is connected with DSP, described
DSP is connected by USB interface with control computer.
2. a kind of attitudes vibration detection method of the object gripped by manipulator, it is characterized in that, comprise the following steps：
Step (1)：Set up robot coordinate system O-XYZ；Set up by gripping object coordinates system o-xyz；By three sliding feeling sensors
It is respectively installed in mechanical finger；
Step (2)：Mechanical finger gripping object on manipulator, each sliding feeling sensor collection is by the coordinate value of gripping object；
Under current state state (n-1), the coordinate value of i-th of sliding feeling sensor output is：Wherein,
I=1,2..., 3, corresponding to sensor1, sensor2, tri- sliding feeling sensors of sensor3；
In the case where the state state (n) after sliding is produced on mechanical finger by gripping object, i-th of sliding feeling sensor output
Coordinate value be：
Step (3)：By under state (n-1) states and state (n) states, sensor1, sensor2, sensor3 tri- slides feel
The coordinate value of sensor detection output is expressed as point set P={ p1,p2,p3, then, and two point set Pstate(n-1)With Pstate(n)Between
Relational expression be expressed as：
Pstate(n)=RPstate(n-1)+ T, (1)；
Wherein,It is the spin matrix between two point sets；T=[t11 t12 t13]TIt is between two point sets
Translation matrix；Spin matrix includes testee by state state (n-1) to rotation information during state (n)；Translate square
Battle array includes testee by state state (n-1) to translation information during state (n)；
Step (4)：Based on cross covariance matrix singular value decomposition method solve spin matrix R and translation matrix T, respectively by
Spin matrix R and translation matrix T calculate obtain being gripped object the straight-line displacement Δ x of x, y, z direction of principal axis, Δ y, Δ z and around
Rotational angle theta x, θ y, θ z of three reference axis；So as to realize the detection of the attitudes vibration of object.
3. method as claimed in claim 2, it is characterized in that, in the step (4),
Δ x=t11, (2)；
Δ y=t12, (3)；
Δ z=t13, (4)；
θx=atan2 (r32,r33), (5)；
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Wherein, atan2 () is arctan function.
4. method as claimed in claim 2, it is characterized in that, in the step (3),
Corresponding to state (n-1) state, sensor1, sensor2, the point set of tri- sliding feeling sensor detection outputs of sensor3
Pstate(n-1)It is expressed as：
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Scale value；
The coordinate value of second sliding feeling sensor sensor2 detections output under state (n-1) state of expression；
The coordinate value of 3rd sliding feeling sensor sensor3 detections output under state (n-1) state of expression；
Corresponding to state (n) states, sensor1, sensor2, the point set P of tri- sensor detection outputs of sensor3state(n)
It is expressed as：
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<mn>3</mn>
</msub>
<mo>,</mo>
<msub>
<mi>z</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>}</mo>
<mo>;</mo>
</mrow>
Wherein,The coordinate value of first sliding feeling sensor sensor1 detections output under state (n) state of expression；
The coordinate value of second sliding feeling sensor sensor2 detections output under state (n) state of expression；
The coordinate value of 3rd sliding feeling sensor sensor3 detections output under state (n) state of expression.
5. method as claimed in claim 2, it is characterized in that, the singular value of the step (4) based on cross covariance matrix point
Solution method solve spin matrix R and translation matrix T the step of be：
Step (401)：
Define rotating vector：Wherein, q0＞ 0, and,
Define translation vector：
ByWithBuild complete state vector：
Step (402)：Build target equationBy iteration, makeIt is intended to 0,
Step (403)：Calculate point set Pstate(n-1)BarycenterCalculate point set Pstate(n)Barycenter
Then, point set Pstate(n-1)And Pstate(n)Cross covariance matrix ∑ p be expressed as：
Optimal spin matrix is calculated with cross covariance matrix ∑ p, and calculates optimal translation vector, step is：
Build antisymmetric matrixAnd constitute column vector with the cyclical component of antisymmetric matrix：Δ=
[A23 A31 A12]T, with column vector Δ=[A23 A31 A12]TFurther construct 4*4 symmetrical matrixes Q (∑ p)：
<mrow>
<mi>Q</mi>
<mrow>
<mo>(</mo>
<mi>&Sigma;</mi>
<mi>p</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>t</mi>
<mi>r</mi>
<mrow>
<mo>(</mo>
<mi>&Sigma;</mi>
<mi>p</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<msup>
<mi>&Delta;</mi>
<mi>T</mi>
</msup>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
</mtd>
<mtd>
<mrow>
<mi>&Sigma;</mi>
<mi>p</mi>
<mo>+</mo>
<msubsup>
<mi>&Sigma;</mi>
<mi>p</mi>
<mi>T</mi>
</msubsup>
<mo>-</mo>
<mi>t</mi>
<mi>r</mi>
<mrow>
<mo>(</mo>
<mi>&Sigma;</mi>
<mi>p</mi>
<mo>)</mo>
</mrow>
<msub>
<mi>I</mi>
<mn>3</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>12</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein, I3It is 3*3 unit matrixs, corresponding to matrix Q, (characteristic vector of ∑ p) eigenvalue of maximum is rotating vectorSpin matrix R is obtained using the component of rotating vector,
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>q</mi>
<mn>0</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>q</mi>
<mn>1</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>q</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>q</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>q</mi>
<mn>0</mn>
</msub>
<msub>
<mi>q</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<msub>
<mi>q</mi>
<mn>3</mn>
</msub>
<mo>+</mo>
<msub>
<mi>q</mi>
<mn>0</mn>
</msub>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>q</mi>
<mn>0</mn>
</msub>
<msub>
<mi>q</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<msubsup>
<mi>q</mi>
<mn>0</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>q</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>q</mi>
<mn>1</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>q</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<msub>
<mi>q</mi>
<mn>3</mn>
</msub>
<mo>-</mo>
<msub>
<mi>q</mi>
<mn>0</mn>
</msub>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<msub>
<mi>q</mi>
<mn>3</mn>
</msub>
<mo>-</mo>
<msub>
<mi>q</mi>
<mn>0</mn>
</msub>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<msub>
<mi>q</mi>
<mn>3</mn>
</msub>
<mo>+</mo>
<msub>
<mi>q</mi>
<mn>0</mn>
</msub>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<msubsup>
<mi>q</mi>
<mn>0</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>q</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>q</mi>
<mn>1</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>q</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>13</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Calculate translation vector
Calculate translation matrix T：
6. method as claimed in claim 2, it is characterized in that, in addition to：
Step (5)：Detection is by the multi-pose consecutive variations situation of gripping object, using formula (1), makes n=1,2 ... ..., obtain by
The continuous path change of object is gripped, is realized to by the monitoring and tracking of gripping object.
7. method as claimed in claim 2, it is characterized in that, in the step (1), set up robot coordinate system O-XYZ step
Suddenly it is：
Using the direction with the vertical direction centerline parallel of montant as Y-axis, using with cross bar and Y-axis vertical direction as X-axis, with
It is Z axis with X-axis and Y-axis vertical direction.
8. method as claimed in claim 2, it is characterized in that, in the step (1), set up by gripping object coordinates system o-xyz
The step of be：
Using central axis on the vertical section of held object as x-axis, with line z parallel with Z axis on the cross section of held object
Axle, using on by the vertical section of gripping object with x-axis and z-axis vertical line as y-axis.
9. method as claimed in claim 2, it is characterized in that, in the step (1), three sliding feeling sensors are respectively installed to
Position in mechanical finger：
In the Y-axis direction, the triangle of three sliding feeling sensor compositions should be parallel with O-XZ faces；
3rd sliding feeling sensor sensor3 is located at the center of mechanical finger in the X-axis direction；
First sliding feeling sensor sensor1 and the second sliding feeling sensor sensor2 are in the X direction on the vertical center of mechanical finger
Line is symmetrical.
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Cited By (2)
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| CN109239388A (en) * | 2018-09-10 | 2019-01-18 | 清华大学深圳研究生院 | A kind of tactile dynamic sensing method of electronic skin |
| CN112672861A (en) * | 2019-03-22 | 2021-04-16 | 欧姆龙株式会社 | Robot, robot control method, and program |
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| CN102501257A (en) * | 2011-10-12 | 2012-06-20 | 上海应用技术学院 | Multi-directional slip sensor |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
| CN206029943U (en) * | 2016-09-23 | 2017-03-22 | 安徽工程大学 | Machinery indicates dexterous hand more |
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| JPS61284391A (en) * | 1985-06-11 | 1986-12-15 | 三菱電機株式会社 | Tactile sensor |
| CN102120326A (en) * | 2011-01-14 | 2011-07-13 | 常州大学 | Manipulator arm grabbing and sliding detection method and device based on image processing technology |
| CN102501257A (en) * | 2011-10-12 | 2012-06-20 | 上海应用技术学院 | Multi-directional slip sensor |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
| CN206029943U (en) * | 2016-09-23 | 2017-03-22 | 安徽工程大学 | Machinery indicates dexterous hand more |
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| CN109239388A (en) * | 2018-09-10 | 2019-01-18 | 清华大学深圳研究生院 | A kind of tactile dynamic sensing method of electronic skin |
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| CN112672861A (en) * | 2019-03-22 | 2021-04-16 | 欧姆龙株式会社 | Robot, robot control method, and program |
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