CN108748164A - The control method of manipulator automatic clamping dynamics and gripping state - Google Patents
The control method of manipulator automatic clamping dynamics and gripping state Download PDFInfo
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- CN108748164A CN108748164A CN201810799267.XA CN201810799267A CN108748164A CN 108748164 A CN108748164 A CN 108748164A CN 201810799267 A CN201810799267 A CN 201810799267A CN 108748164 A CN108748164 A CN 108748164A
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- manipulator
- signal processing
- processing unit
- dynamics
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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 present invention relates to the control methods of a kind of manipulator automatic clamping dynamics and gripping state.The control method of the manipulator automatic clamping dynamics and gripping state includes the following steps：Step 1：Distinguish the temperature information that collection machinery hand grips the dynamics information and body surface of object in real time by sensor, and by the dynamics information of acquisition and temperature information real-time Transmission to signal processing unit；Step 2：The signal processing unit adjusts the working condition of manipulator according to the dynamics information and temperature information of reception.
Description
Technical field
The invention belongs to manipulator technical fields, more particularly to a kind of manipulator automatic clamping dynamics and grip state
Control method.
Background technology
Manipulator has been widely used in as very important tool in automated manufacturing in various fields at present.
Especially in intelligence manufacture field, the intelligent requirements of manipulator can more be increased.And most of manipulator in the prior art is all
It is to be improved in precision or control, and the product gripped is very single, cannot grip different types of product.
In CN103612264A, in order to solve the problems, such as gripping product it is single, provide it is a kind of be applicable to it is different
The article of size and shape and be mechanical finger of the elastic contact force to prevent article deforming from damaging between article.?
In CN103612264A, by increasing the first elastic component and the second elastic component, to make to be elasticity between manipulator and article
Contact, so as to grip different types of product.This improvement for improving only construction applications cannot adjust machine according to product
The posture of tool hand, it is difficult to realize intelligent control.
In CN100595041C, a kind of large multi-sensor integration electric claw is provided.More sensor-based systems therein, packet
It includes：Range sensor, closed position limit switch, open position limit switch, encoder, current sensor, six proximity sensors,
Camera bracket, camera, electronics audiphone.It is not right simultaneously when capturing object although having used multiple sensors
Grasp force, the control of the torque of motion process, the more not measurement of humiture.Some accurate fragile parts still need to rely on people
Work operates, and can not control the state of movement and the crawl of manipulator, is unable to the action of flexible control manipulator, captures object
Body.
Invention content
It is an object of the invention in view of the drawbacks of the prior art or problem, provide a kind of manipulator automatic clamping dynamics and
The control method of gripping state.
Technical scheme is as follows：A kind of control method of manipulator automatic clamping dynamics and gripping state include with
Lower step：Step 1：Distinguish collection machinery hand in real time by sensor and grips the dynamics information of object and the temperature letter of body surface
Breath, and by the dynamics information of acquisition and temperature information real-time Transmission to signal processing unit；Step 2：The signal processing unit
The working condition of manipulator is adjusted according to the dynamics information and temperature information of reception.
Preferably, in step 2, the signal processing unit is bent according to dynamics information architecture power-time of real-time reception
Line, and the slope k of the force-time curve is calculated, if slope k >=m, the signal processing unit judges that the object is
Hard objects, then the signal processing unit, which adjusts the manipulator and be in hard objects, grips state；If slope n≤k <
M, then the signal processing unit judgement object is elastomeric objects, then the signal processing unit is adjusted at the manipulator
State is gripped in elastomeric objects；If slope k < n, the signal processing unit judges that the object is soft object, then institute
It states signal processing unit and adjusts the manipulator and be in soft object and grip state, wherein m, n are positive number, and m > n.
Preferably, in step 2, if the signal processing unit receive gripping dynamics it is excessive when, manipulator
Bare terminal end is opened, until after the signal processing unit receives suitable gripping dynamics, the manipulator stopping is acted and protected
Hold clamp position；If the signal processing unit receive gripping dynamics it is too small when, manipulator bare terminal end holding close
Conjunction state, and continue to reduce the distance of the bare terminal end of manipulator, until the signal processing unit receives suitable gripping power
After degree, the manipulator stopping acts and holds clamp position.
Preferably, further include step 3, the step 3 is：The rotation generated by the rotation of torsion sensor collection machinery hand
Torsion information, and the rotation torsion information of acquisition is transmitted to signal processing unit；The signal processing unit is according to reception
Rotation torsion information judges the driving torque of manipulator.
Preferably, in step 3, if the signal processing unit judges that the driving torque of manipulator is more than preset value,
Then the manipulator turns round certain angle；If the signal processing unit judges that the driving torque of manipulator is not up to default
Value, then the manipulator persistently turns round.
Technical solution provided by the invention has the advantages that：
The control method of manipulator automatic clamping dynamics provided by the invention and gripping state can be according to by gripping object
Dynamics information and the temperature information of body surface adjust the gripping state of manipulator in real time, to realize the work(intelligently adjusted
Energy；
Moreover, by the torsional moment of torsion sensor inspecting manipuator, to judge the rotation information of manipulator, accurately
Property it is high, and stability is good.
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this specification by particular specific embodiment below
Revealed content understands other advantages and effect of the present invention easily.Although description of the invention will combine preferred embodiment
It introduces together, but this feature for not representing the invention is only limitted to the embodiment.On the contrary, being invented in conjunction with embodiment
The purpose of introduction is to be possible to the other selections extended or transformation to cover the claim based on the present invention.In order to carry
Understand for the depth to the present invention, will include many concrete details in being described below.The present invention can not also use these thin
Section is implemented.In addition, in order to avoid the emphasis of the chaotic or fuzzy present invention, some details will be omitted in the de-scription.
In addition, "upper" used in the following description should not be understood merely as the surface of a certain component, it can table
It is shown as a variety of expression higher meanings of its level height such as oblique upper or surface.Similarly, "lower" should not be understood merely as certain
The underface of one component is represented by a variety of expression lower meanings of its level height such as obliquely downward or underface.
The present invention provides the control methods of a kind of manipulator automatic clamping dynamics and gripping state to include the following steps：
Step 1：Distinguish the temperature that collection machinery hand grips the dynamics information and body surface of object in real time by sensor
Information, and by the dynamics information of acquisition and temperature information real-time Transmission to signal processing unit；
Step 2：The signal processing unit adjusts the work shape of manipulator according to the dynamics information and temperature information of reception
State；
Step 3：The rotation torsion information generated by the rotation of torsion sensor collection machinery hand, and the rotation of acquisition is turned round
Force information is transmitted to signal processing unit；The signal processing unit judges turning for manipulator according to the rotation torsion information of reception
Dynamic torque.
Specifically, in step 2, the signal processing unit is bent according to dynamics information architecture power-time of real-time reception
Line, and the slope k of the force-time curve is calculated,
If slope k >=m, the signal processing unit judges that the object is hard objects, then the signal processing
Unit adjusts the manipulator and is in hard objects gripping state；
If slope n≤k < m, the signal processing unit judges that the object is elastomeric objects, then at the signal
Reason unit adjusts the manipulator and is in elastomeric objects gripping state；
If slope k < n, the signal processing unit judges that the object is soft object, then the signal processing
Unit, which adjusts the manipulator and be in soft object, grips state, wherein m, n are positive number, and m > n.
Moreover, in step 2, if the signal processing unit receive gripping dynamics it is excessive when, the folder of manipulator
It holds end to open, until after the signal processing unit receives suitable gripping dynamics, the manipulator stopping is acted and held
Clamp position；
If the signal processing unit receive gripping dynamics it is too small when, the bare terminal end of manipulator remains closed shape
State, and continue to reduce the distance of the bare terminal end of manipulator, until after the signal processing unit receives suitable gripping dynamics,
The manipulator stopping acts and holds clamp position.
In addition, in step 3, in step 3, being more than if the signal processing unit judges the driving torque of manipulator
Preset value, then the manipulator turn round certain angle；
If the signal processing unit judges that the driving torque of manipulator is not up to preset value, the manipulator continues
Revolution.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (5)
1. the control method of a kind of manipulator automatic clamping dynamics and gripping state, it is characterized in that：Include the following steps：
Step 1：Distinguish the temperature information that collection machinery hand grips the dynamics information and body surface of object in real time by sensor,
And by the dynamics information of acquisition and temperature information real-time Transmission to signal processing unit；
Step 2：The signal processing unit adjusts the working condition of manipulator according to the dynamics information and temperature information of reception.
2. the control method of a kind of manipulator automatic clamping dynamics and gripping state as described in claim 1, it is characterized in that：?
In step 2, the signal processing unit according to the dynamics information architecture force-time curve of real-time reception, and calculate it is described Li-when
The slope k of half interval contour,
If slope k >=m, the signal processing unit judges that the object is hard objects, then the signal processing unit
It adjusts the manipulator and is in hard objects gripping state；
If slope n≤k < m, the signal processing unit judges that the object is elastomeric objects, then the signal processing list
Member adjusts the manipulator and is in elastomeric objects gripping state；
If slope k < n, the signal processing unit judges that the object is soft object, then the signal processing unit
It adjusts the manipulator and is in soft object gripping state, wherein m, n are positive number, and m > n.
3. the control method of a kind of manipulator automatic clamping dynamics and gripping state as claimed in claim 2, it is characterized in that：?
In step 2, if the signal processing unit receive gripping dynamics it is excessive when, the bare terminal end of manipulator is opened, until institute
It states after signal processing unit receives suitable gripping dynamics, the manipulator stopping acts and holds clamp position；
If the signal processing unit receive gripping dynamics it is too small when, the bare terminal end of manipulator is kept closed,
And continue to reduce the distance of the bare terminal end of manipulator, until after the signal processing unit receives suitable gripping dynamics, institute
It states manipulator stopping and acts and holds clamp position.
4. the control method of a kind of manipulator automatic clamping dynamics and gripping state as described in claim 1, it is characterized in that：Also
Including step 3, the step 3 is：The rotation torsion information generated by the rotation of torsion sensor collection machinery hand, and will acquisition
Rotation torsion information be transmitted to signal processing unit；
The signal processing unit judges the driving torque of manipulator according to the rotation torsion information of reception.
5. the control method of a kind of manipulator automatic clamping dynamics and gripping state as claimed in claim 4, it is characterized in that：?
In step 3, if the signal processing unit judges that the driving torque of manipulator is more than preset value, the manipulator revolution one
Determine angle；
If the signal processing unit judges that the driving torque of manipulator is not up to preset value, the manipulator persistently returns
Turn.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810799267.XA CN108748164A (en) | 2018-07-19 | 2018-07-19 | The control method of manipulator automatic clamping dynamics and gripping state |
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| CN201810799267.XA CN108748164A (en) | 2018-07-19 | 2018-07-19 | The control method of manipulator automatic clamping dynamics and gripping state |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757463A (en) * | 2019-11-20 | 2020-02-07 | 贵州大学 | Manipulator grabbing force control method and device |
| CN111805545A (en) * | 2020-07-13 | 2020-10-23 | 河北省科学院应用数学研究所 | Dexterous hand control method and device and terminal equipment |
| CN112830231A (en) * | 2020-12-30 | 2021-05-25 | 深圳市华星光电半导体显示技术有限公司 | Clamping method and device for display panel |
| CN112967265A (en) * | 2021-03-22 | 2021-06-15 | 联仁健康医疗大数据科技股份有限公司 | Medical clamping method and system, medical robot and storage medium |
| CN113012800A (en) * | 2021-04-19 | 2021-06-22 | 联仁健康医疗大数据科技股份有限公司 | Multipurpose clamping method, multipurpose clamping system, medical robot and storage medium |
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|---|---|---|---|---|
| CN110757463A (en) * | 2019-11-20 | 2020-02-07 | 贵州大学 | Manipulator grabbing force control method and device |
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| CN111805545A (en) * | 2020-07-13 | 2020-10-23 | 河北省科学院应用数学研究所 | Dexterous hand control method and device and terminal equipment |
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| CN112830231A (en) * | 2020-12-30 | 2021-05-25 | 深圳市华星光电半导体显示技术有限公司 | Clamping method and device for display panel |
| CN112967265A (en) * | 2021-03-22 | 2021-06-15 | 联仁健康医疗大数据科技股份有限公司 | Medical clamping method and system, medical robot and storage medium |
| CN113012800A (en) * | 2021-04-19 | 2021-06-22 | 联仁健康医疗大数据科技股份有限公司 | Multipurpose clamping method, multipurpose clamping system, medical robot and storage medium |
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