CN108942945A - A kind of Tactile control method and Tactile control component based on robot - Google Patents
A kind of Tactile control method and Tactile control component based on robot Download PDFInfo
- Publication number
- CN108942945A CN108942945A CN201810962032.8A CN201810962032A CN108942945A CN 108942945 A CN108942945 A CN 108942945A CN 201810962032 A CN201810962032 A CN 201810962032A CN 108942945 A CN108942945 A CN 108942945A
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- China
- Prior art keywords
- robot
- pressure
- test
- sensor
- tactile control
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
Abstract
The present invention relates to robotic technology fields, refer in particular to a kind of Tactile control method based on robot.This method is to input gesture command by rubber ring, then by several pressure sensors via AD data collector, control module input pressure signal from data processing module to robot, corresponding movement is executed according to the pressure signal of several pressure sensors by control module, thus realize low cost by people control robot carry out irregular movement.The present invention also provides a kind of Tactile control components for robot, above-mentioned control method are applied, to control robot.
Description
Technical field
The present invention relates to robotic technology fields, refer in particular to a kind of Tactile control method and tactile control based on robot
Component processed.
Background technique
Current robot is all to be applied in industrial production mostly, is repeated by the working trajectory pre-established
Movement, thus complete streamlined production.Other than this partial robotic, it to be by manually carrying out that there are also some robots
Control, to complete some irregular, complicated movements.The robot of this kind of manual control is passed by six-dimensional force mostly
Sensor captures the instruction of people's application, then carries out corresponding actions according to the control module of robot and realizes control.
And the six-dimension force sensor of mainstream, main principle are the displacement and robot by measuring three axis at this stage
What the three-dimensional torque of end sensed to complete six-dimensional force.And the torque sensor used in it, the measurement of itself is sensitive mostly
It spends low, it is therefore desirable to after carrying out the amplification in Machine Design in robot end's installation, just reach measurement purpose, but it is this
Mechan-amplifier device is totally unfavorable for the design of robot end's tooling fixture, therefore this undoubtedly increases robot control
Cost, or even influence whether the flexibility of robot.
Summary of the invention
The present invention provides a kind of Tactile control component based on robot for problem of the prior art, can be by simple
Component, realize the control of robot.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme:
A kind of Tactile control component for robot provided by the invention, including ring flange, rubber ring, AD data collector
And data processing module, using the center of the ring flange as the center of circle, the end face circle distribution of the ring flange has several pressure
Sensor, the rubber ring contradict several pressure sensors, several pressure sensors are defeated with the AD data collector
Enter end electrical connection, the output end of the AD data collector is electrically connected with the input terminal of the data processing module, the data
The input terminal of processing module is used for the control module of outer welding robot.
Further, the Tactile control component further includes test handle, and the test handle includes shank body, measuring head,
The measuring head is set to one end of the measuring head, and the side wall of the shank body is provided with test wrapper, the side wall of the measuring head
It is provided with several first pressures test sensor；Using the center of the test wrapper as the center of circle, the test wrapper close to described
One end of first pressure test sensor is provided with several second pressures test sensor.
Further, the quantity of first pressure test sensor is six, and six first pressure test sensors are uniform
It is distributed in the side wall of the measuring head；The quantity that second pressure tests sensor is six, and six second pressures test sensor
It is uniformly distributed in the end face of the test wrapper.
Further, the quantity threading hole equal with the quantity of pressure sensor is additionally provided on the ring flange, each
Threading hole is located between two adjacent pressure sensors.
Further, the quantity of pressure sensor is six, and six pressure sensors are uniformly distributed in the ring flange
End face.
The present invention is directed to problem of the prior art, additionally provides a kind of tactile realized using above-mentioned Tactile control component
Control method, comprising the following steps:
A. rubber ring is touched with hand, and gesture command is applied by rubber ring；
B. rubber ring pressure applied is received respectively by several pressure sensors of circle distribution on ring flange, and each
From pressure signal be transmitted to AD data collector；
The signal of pressure sensor is transmitted to data processing module and is handled by c.AD data collector, then is had at data
Reason module is transmitted to pressure sensor signal after processing the control module of robot；
D. corresponding movement is made according to the signal of pressure sensor by robot.
It is further, described before step a, further includes:
Debugging: being inserted into rubber ring using test handle, controls test handle movement, and the pressure test on contrastive test handle passes
The signal of sensor is compared with the signal of the pressure sensor on ring flange, to be debugged.
Further, the quantity of the pressure sensor is six, and six pressure sensors are with the center of the ring flange
For the center of circle, circumferentially it is uniformly arranged on the ring flange.
Further, in step c, further includes:
C1: in the control module, if the expectation in-position of robot is EP, gesture command UC, the control of robot
Speed signal processed is UV, the threshold value U of the gesture instruction of robot motion can be drivenT, then EP=F (UV, UC), wherein And KPFor the gain of robot speed's variation
Coefficient, KPIt is not 0.
Further,C is attenuation coefficient.
Beneficial effects of the present invention: the present invention is by several pressure sensors for being set on ring flange, to incude glue
The power that ring is applied allows the control of robot so that the size and Orientation of the power is fed back by several pressure sensors
The control that molding block can be inferred to user according to the signal that several pressure sensors are fed back is intended to, to make correspondence
Movement.The present invention is cooperated by simple component, be can be realized and is made the effect irregularly acted using manual control robot
Fruit reduces the production cost of robot.
Detailed description of the invention
Fig. 1 is the connection schematic diagram of electric part of the invention.
Fig. 2 is the schematic diagram of ring flange of the invention, rubber ring.
Fig. 3 is ring flange of the invention, rubber ring and the schematic diagram for testing handle.
Fig. 4 is the schematic diagram of ring flange of the invention.
Fig. 5 is the schematic diagram of the test handle of rubber ring of the invention.
Appended drawing reference: 3-rubber rings, 4-AD data collectors, 5-data processing modules, 6-ring flanges, 7-test hands
Handle, 61-pressure sensors, 62-threading holes, 71-shank bodies, 72-measuring heads, 73-test wrappers, the test of 74-first pressures
Sensor, 75-second pressures test sensor.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.It is carried out below in conjunction with attached drawing 1 to 5 couples of present invention of attached drawing detailed
Description.
Embodiment 1
A kind of Tactile control component based on robot is present embodiments provided, including ring flange 6, rubber ring 3, AD data are adopted
Storage 4 and data processing module 5, using the center of the ring flange 6 as the center of circle, if the end face circle distribution of the ring flange 6 has
A dry pressure sensor 61, the rubber ring 3 contradict several pressure sensors 61, several pressure sensors 61 with the AD
The input terminal of data collector 4 is electrically connected, the input of the output end of the AD data collector 4 and the data processing module 5
End electrical connection, the output end of the data processing module 5 are used for the control module 2 of outer welding robot.Specifically, the present embodiment institute
The control module 2 stated is the control chip or central control computer of robot, and data processing module 5 is that can directly purchase on the market
The data processing module obtained.
Tactile control component provided by the present embodiment controls robot using method described in embodiment 1
System so that realizing low cost control robot carries out irregular movement, and avoids multiplying arrangement for robot dexterity
Influence.
Specifically, the Tactile control component in the present embodiment further includes test handle 7, the test handle 7 includes shank body
71, measuring head 72, the measuring head 72 are set to one end of the measuring head 72, and the side wall of the shank body 71 is provided with test wrapper
73, the side wall of the measuring head 72 is provided with several first pressures test sensor 74；Center with the test wrapper 73 is
The one end close to first pressure test sensor 74 in the center of circle, the test wrapper 73 is provided with the test of several second pressures
Sensor 75.
Specifically, the quantity of pressure sensor 61 is six, six pressure sensors 61 are uniformly distributed in the ring flange 6
End face.
Specifically, the quantity of first pressure test sensor 74 is six, six first pressure test sensors 74 are uniform
It is distributed in the side wall of the measuring head 72；The quantity that second pressure tests sensor 75 is six, and six second pressure tests pass
Sensor 75 is uniformly distributed in the end face of the test wrapper 73.More specifically, six first pressures test sensors 74 and six the
Two pressure test sensors 75 shift to install, i.e., each second pressure test sensor 75 is located at two adjacent first pressures and surveys
It tries between sensor 74.When being debugged, measuring head 72 is inserted into rubber ring 3, and six second pressures test sensor 75 at this time
It is in the same vertical plane with six pressure sensors 61 respectively, and six first pressures test sensors 74 then with six pressure
Sensor 61 shifts to install, so that test handle 7 is capable of the numerical value of more accurate ground feedback test.
Specifically, being additionally provided with the quantity threading hole 62 equal with the quantity of pressure sensor 61 on the ring flange 6, often
A threading hole 62 is located between two adjacent pressure sensors 61.Threading hole 62 is to allow the line of pressure sensor 61 to wear
It crosses, consequently facilitating pressure sensor 61 is connect with AD data collector 4 by conducting wire.
Embodiment 2
A kind of Tactile control method realized using Tactile control component described in embodiment 1 provided in this embodiment, packet
Include following steps:
A. user touches rubber ring 3 with hand, and applies gesture command by rubber ring 3；
B. 3 pressure applied of rubber ring is received respectively by several pressure sensors 61 of circle distribution on ring flange 6, and
Respective pressure signal is transmitted to AD data collector 4；
The signal of pressure sensor 61 is transmitted to data processing module 5 and is handled by c.AD data collector 4, then has number
61 signal of pressure sensor after processing is transmitted to according to processing module 5 control module of robot；
D. corresponding movement is made according to the signal of pressure sensor 61 by robot.
If in the present solution, the quantity of pressure sensor 61 is six, and six pressure sensors 61 are with the center of ring flange 6
For the center of circle, it is circularly and evenly distributed on ring flange 6, i.e., the angle between every two adjacent pressure sensors 61 is 60 °.With
For Fig. 2, when user makes power by rubber ring 3 with the direction A, pressure suffered by leftmost pressure sensor 61 in Fig. 2
Maximum, and pressure suffered by the pressure sensor 61 of rightmost is minimum in Fig. 2, and suffered by other four pressure sensors 61
Pressure it is also different；AD data collector 4 can be acquired respectively the data of six pressure sensors 61, then pass through data
After processing module 5 handles six data, it is transmitted to control module, by control module according to preset formula,
Instruction representated by six above-mentioned data is calculated, corresponding movement is then made by control module control robot.It compares
In currently used " completing six-dimensional force sensing by measuring the torque of the displacement of three axis and the three-dimensional of robot end ", originally
Invention amplifies without signal of the multiplying arrangement to acquisition, and the control that irregular movement is carried out for robot can be completed
System, to save the control cost of robot, and avoids and affects the flexible of robot because of the setting of multiplying arrangement
Property.
In addition, further including debugging step before step a: being inserted into rubber ring 3, control test handle 7 using test handle 7
It acts, the signal of the pressure test sensor on contrastive test handle 7 and the signal of the pressure sensor 61 on ring flange 6 carry out
It compares, to be debugged.First pressure test sensor 74 and second pressure test sensor are provided on the test handle 7
75, when testing, test handle 7 is provided with first pressure test sensor 74 by user and second pressure test passes
One end insertion of sensor 75 touches in rubber ring 3, then applies pressure by test 7 pairs of touch rubber rings 3 of handle, passes through pressure sensing
The signal that device 61, first pressure test sensor 74 and second pressure test 75 three of sensor are fed back, to control module
Equation coefficients be adjusted, to increase the accuracy of robot motion.
Specifically, in step c, further includes:
C1: in the control module, if the expectation in-position of robot is EP, gesture command UC, the control of robot
Speed signal processed is UV, the threshold value U of the gesture instruction of robot motion can be drivenT, then EP=F (UV, UC), wherein And KPFor the gain of robot speed's variation
Coefficient, KPIt is not 0.I.e. the present invention controls robot by the way of PID control, when the sensitivity for robot needs
It, can be K when asking lowerIAnd KdValue be set as 0；And when the sensitivity requirement for robot is high, user need to be according to sensitive
Degree adjusts KIAnd KdValue, so that the movement accuracy of robot be allowed to reach demand.
In addition to this, in the present invention, threshold value UTIt is the lower threshold value that can generate the signal of movement, i.e., when gesture command signal
UCGreater than UTWhen, gesture command is only effective order, and the machine talent will do it movement；And work as gesture command signal UCLess than UTWhen,
Robot motion will not be triggered.Threshold value UTSetting, be since pressure sensor 61 will receive the influence of the environment such as temperature, humidity
Hair triggers, so that the cooperation of pressure sensor 61 issues pseudo- gesture command signal；And these pseudo- gesture command signals
Not more than UTValue, therefore be provided with threshold value UT, be conducive to avoid robot that there is a phenomenon where error startings, to improve this
The reliability of invention.
Further, gain coefficientC is attenuation coefficient, so that gain coefficient KPWith gesture command UCPhase
It closes, i.e., when the movement of robot position desired closer to user, the power that user can apply is smaller, so that gesture command
UCIt is smaller, to allow gain coefficient KPSmaller, the movement of robot is also slower, so that robot in-position is accurate
Du Genggao.Specifically, attenuation coefficient C is constant, need to carry out debugging determination according to the practical control susceptibility of different robots.
The above is only present pre-ferred embodiments, is not intended to limit the present invention in any form, although
The present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention, any person skilled in the art,
It does not depart within the scope of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent change
The equivalent embodiment of change, but without departing from the technical solutions of the present invention, technology refers to above embodiments according to the present invention
Made any simple modification, equivalent change and modification, belong in the range of technical solution of the present invention.
Claims (10)
1. a kind of Tactile control component based on robot, it is characterised in that: including ring flange, rubber ring, AD data collector and
Data processing module, using the center of the ring flange as the center of circle, the end face circle distribution of the ring flange has several pressure biography
Sensor, the rubber ring contradict several pressure sensors, input of several pressure sensors with the AD data collector
End electrical connection, the output end of the AD data collector is electrically connected with the input terminal of the data processing module, at the data
The input terminal for managing module is used for the control module of outer welding robot.
2. the Tactile control component according to claim 1 based on robot, it is characterised in that: the Tactile control component
It further include test handle, the test handle includes shank body, measuring head, and the measuring head is set to one end of the measuring head,
The side wall of the shank body is provided with test wrapper, and the side wall of the measuring head is provided with several first pressures test sensor；With
The center of the test wrapper is the center of circle, and one end close to first pressure test sensor of the test wrapper is provided with several
A second pressure tests sensor.
3. the Tactile control component according to claim 2 based on robot, it is characterised in that: first pressure test sensing
The quantity of device is six, and six first pressure test sensors are uniformly distributed in the side wall of the measuring head；Second pressure test
The quantity of sensor is six, and six second pressure test sensors are uniformly distributed in the end face of the test wrapper.
4. the Tactile control component according to claim 1 based on robot, it is characterised in that: also set on the ring flange
It is equipped with the quantity threading hole equal with the quantity of pressure sensor, each threading hole is located at two adjacent pressure sensors
Between.
5. the Tactile control component according to claim 1 based on robot, it is characterised in that: the quantity of pressure sensor
It is six, six pressure sensors are uniformly distributed in the end face of the ring flange.
6. a kind of Tactile control method realized using Tactile control component described in claim 1-5 any one, feature
It is: the following steps are included:
A. rubber ring is touched with hand, and gesture command is applied by rubber ring；
B. rubber ring pressure applied is received respectively by several pressure sensors of circle distribution on ring flange, and respective
Pressure signal is transmitted to AD data collector；
The signal of pressure sensor is transmitted to data processing module and is handled by c.AD data collector, then has data processing mould
Block is transmitted to pressure sensor signal after processing the control module of robot；
D. corresponding movement is made according to the signal of pressure sensor by robot.
7. a kind of Tactile control method realized using Tactile control component as claimed in claim 2, it is characterised in that: including with
Lower step:
Debugging: being inserted into rubber ring using test handle, controls test handle movement, the pressure test sensor on contrastive test handle
Signal be compared with the signal of the pressure sensor on ring flange, to be debugged
A. rubber ring is touched with hand, and gesture command is applied by rubber ring；
B. rubber ring pressure applied is received respectively by several pressure sensors of circle distribution on ring flange, and respective
Pressure signal is transmitted to AD data collector；
The signal of pressure sensor is transmitted to data processing module and is handled by c.AD data collector, then has data processing mould
Block is transmitted to pressure sensor signal after processing the control module of robot；
D. corresponding movement is made according to the signal of pressure sensor by robot.
8. Tactile control method according to claim 6 or 7, it is characterised in that: the quantity of the pressure sensor is six
A, six pressure sensors are circumferentially uniformly arranged on the ring flange using the center of the ring flange as the center of circle.
9. Tactile control method according to claim 6 or 7, it is characterised in that: in step c, further includes:
C1: in the control module, if the expectation in-position of robot is EP, gesture command UC, the control speed of robot
Degree signal is UV, the threshold value U of the gesture instruction of robot motion can be drivenT, then EP=F (UV, UC), wherein
And KPFor robot speed's variation
Gain coefficient, KPIt is not 0.
10. the Tactile control method according to claim 9 based on robot, it is characterised in that:C is
Attenuation coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810962032.8A CN108942945A (en) | 2018-08-22 | 2018-08-22 | A kind of Tactile control method and Tactile control component based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810962032.8A CN108942945A (en) | 2018-08-22 | 2018-08-22 | A kind of Tactile control method and Tactile control component based on robot |
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| Publication Number | Publication Date |
|---|---|
| CN108942945A true CN108942945A (en) | 2018-12-07 |
Family
ID=64473039
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810962032.8A Pending CN108942945A (en) | 2018-08-22 | 2018-08-22 | A kind of Tactile control method and Tactile control component based on robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110053031A (en) * | 2019-04-25 | 2019-07-26 | 深圳市启玄科技有限公司 | A kind of robot control assembly and method based on tactile |
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