CN109262633A - Manipulator control system based on tactile - Google Patents
Manipulator control system based on tactile Download PDFInfo
- Publication number
- CN109262633A CN109262633A CN201811461158.3A CN201811461158A CN109262633A CN 109262633 A CN109262633 A CN 109262633A CN 201811461158 A CN201811461158 A CN 201811461158A CN 109262633 A CN109262633 A CN 109262633A
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- CN
- China
- Prior art keywords
- manipulator
- tactile
- control system
- touch sensor
- moving cell
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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.)
- Pending
Links
- 238000000034 method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 238000012790 confirmation Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Classifications
-
- 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
- B25J13/084—Tactile sensors
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of manipulator control system based on tactile of the present invention, including manipulator, touch sensor, controller and moving cell；The touch sensor and moving cell are fixed on the manipulator, and the moving cell controls the flexible of the touch sensor；The controller controls the on-off of the moving cell according to the signal of the touch sensor collected.It is the configuration of the present invention is simple, at low cost, the stability of manipulator crawl process can be improved.
Description
Technical field
The present invention relates to manipulator control field more particularly to a kind of manipulator control systems based on tactile.
Background technique
In before manipulator grabs object, determined by vision it is a wide range of, using the specific position of haptic confirmation object,
To improve the stability of crawl.Touch sensor is also more at present, the pressure distribution tests released such as the Tekscan company in the U.S.
System is widely used in multi-field pressure distribution tests and analysis.Domestic such as Hefei Intelligent Machinery Inst., Chinese Academy of Scineces
The artificial skin of development has made three-dimensional soft tactile sensor array using the flexible material based on conductive rubber；Zhejiang is big
Learn the capacitance type touch sensor with metal layer array developed.Structure is complicated for the sensor, at high cost, unfavorable
In being applied in manipulator control system.
Summary of the invention
The object of the present invention is to provide a kind of manipulator control systems based on tactile, and structure is simple, at low cost, and
With feeling function.
To achieve the goals above, the technical scheme is that
A kind of manipulator control system based on tactile, including manipulator, touch sensor, controller and moving cell；
The touch sensor and moving cell are fixed on the manipulator, and the moving cell controls the tactile sensing
The end contact of device stretches；The controller movement list according to the control of the signal of the touch sensor collected
Member.
Further, the back side of the manipulator is arranged in the touch sensor.
Further, the touch sensor is fixedly connected with the manipulator.
Further, when the touch sensor is contracted to closed configuration, end face is no more than the end face of the manipulator.
Further, the touch sensor and moving cell are multiple.
Further, the manipulator can be suction nozzle type manipulator.
The present invention realizes that arm end increases tactile, realizes to the tactilely-perceptible for being grabbed object, realizes robot crawl
Tactile closed loop feedback in the process improves the stability of manipulator crawl.
Detailed description of the invention
Fig. 1 is the first state structural schematic diagram of the manipulator control system embodiment one the present invention is based on tactile.
Fig. 2 is the second status architecture schematic diagram of the manipulator control system embodiment one the present invention is based on tactile.
Fig. 3 is the first state structural schematic diagram of the manipulator control system embodiment two the present invention is based on tactile.
Fig. 4 is the second status architecture schematic diagram of the manipulator control system embodiment two the present invention is based on tactile.
Fig. 5 is the first state structural schematic diagram of the manipulator control system embodiment three the present invention is based on tactile.
Fig. 6 is the second status architecture schematic diagram of the manipulator control system embodiment three the present invention is based on tactile.
Specific embodiment
The following is further explained with reference to the attached drawings the embodiment of the present invention.
It is the embodiment of the present invention one referring to Figure 1 and shown in Fig. 2, a kind of manipulator control system based on tactile, packet
Include manipulator 1, touch sensor 2, controller 3 and moving cell 4；The touch sensor 2 and moving cell 4 are fixedly installed
On the manipulator 1, the moving cell 4 controls the flexible of the end contact of the touch sensor 2；The controller 3
The moving cell 4 is controlled according to the signal of the touch sensor 2 collected.
The power unit of moving cell 4 powers off, and touch sensor 2 is under the action of the spring of moving cell 4 in opening
State is then in maximum stroke；The power unit of moving cell 4 is powered, under the action of the power unit, touch sensor
The contraction of 2 end contact, until being in rounding state, then at minimum stroke.When manipulator 1 grabs object, tactile
The end contact of sensor 2 once encounters object, then the end contact will change relative to the position of manipulator 1, control
Device 3 acquires the signal that touch sensor 2 issues, so that it may determine the object areas that the end contact of touch sensor 2 touches
Position of the domain relative to manipulator 1 calculates the end touching of touch sensor 2 so as to the kinematics model by robot
Position of the object area that head touches in robot coordinate system.The power unit that controller 3 controls moving cell 4 is powered,
Touch sensor 2 is retracted, object is grabbed by manipulator 1.
Preferably, the back side of the manipulator 1 is arranged in the touch sensor 2, does not influence the use of manipulator 1.
Preferably, the touch sensor 2 is fixed with the opposite installation of the manipulator 1, so that overall structure is stablized, and is made
It makes conveniently.
Preferably, when the touch sensor 2 is contracted to closed configuration, end face is no more than the end face of the manipulator 1,
Manipulator 1 is not influenced grabs object.
Preferably, the touch sensor 2 and moving cell 4 are multiple.
Preferably, which includes spring and power unit, and wherein power unit can be electromagnet or electricity
Machine.
It refers to shown in Fig. 3 and Fig. 4, is second embodiment of the invention, be single touch sensor 2 and single moving cell
4 operation schematic diagram, Fig. 3 are that touch sensor 2 is in the open state, that is, are in the structural schematic diagram of maximum stroke, Fig. 4 is
Touch sensor 2 is in rounding state, the i.e. structural schematic diagram at minimum stroke.
It refers to shown in Fig. 5 and Fig. 6, is the embodiment of the present invention three, relative to embodiment one, difference is manipulator 1
For suction nozzle type manipulator 5, remaining course of work and principle are the same as example 1, and details are not described herein.
In conclusion it is the configuration of the present invention is simple, at low cost, the stability of manipulator crawl process can be improved.
Claims (8)
1. a kind of manipulator control system based on tactile, it is characterised in that: including manipulator (1), touch sensor (2), control
Device (3) processed and moving cell (4)；The touch sensor (2) and moving cell (4) are fixed at the manipulator (1)
On, the moving cell (4) controls the flexible of the touch sensor (2)；The controller (3) is according to the touching collected
Feel that the signal of sensor (2) controls the on-off of the moving cell (4).
2. a kind of manipulator control system based on tactile according to claim 1, it is characterised in that: the tactile sensing
Device (2) is arranged at the back side of the manipulator (1).
3. a kind of manipulator control system based on tactile according to claim 1, it is characterised in that: the tactile sensing
Device (2) is fixedly connected with the manipulator (1).
4. a kind of manipulator control system based on tactile according to claim 1, it is characterised in that: the tactile sensing
When device (2) is contracted to closed configuration, end face is no more than the end face of the manipulator (1).
5. a kind of manipulator control system based on tactile according to claim 1, it is characterised in that: the tactile sensing
Device (2) and moving cell (4) are multiple.
6. a kind of manipulator control system based on tactile described in any one claim described in -5 according to claim 1
System, it is characterised in that: the manipulator (1) is suction nozzle type manipulator (5).
7. a kind of manipulator control system based on tactile described in any one claim described in -5 according to claim 1
System, it is characterised in that: moving cell (4) spring and power unit.
8. a kind of manipulator control system based on tactile according to claim 7, it is characterised in that: the power unit
For electromagnet or motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811461158.3A CN109262633A (en) | 2018-12-01 | 2018-12-01 | Manipulator control system based on tactile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811461158.3A CN109262633A (en) | 2018-12-01 | 2018-12-01 | Manipulator control system based on tactile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109262633A true CN109262633A (en) | 2019-01-25 |
Family
ID=65186619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811461158.3A Pending CN109262633A (en) | 2018-12-01 | 2018-12-01 | Manipulator control system based on tactile |
Country Status (1)
| Country | Link |
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| CN (1) | CN109262633A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101033985A (en) * | 2007-02-08 | 2007-09-12 | 上海交通大学 | Multiple node tree structure artificial vibrissa proximity-sensing sensor |
| CN202279044U (en) * | 2011-11-02 | 2012-06-20 | 山东科技大学 | Whisker type detection device for vehicle |
| CN105881588A (en) * | 2016-04-05 | 2016-08-24 | 佛山科学技术学院 | Intelligent tactile detection probe |
| WO2018131354A1 (en) * | 2017-01-11 | 2018-07-19 | ヤマハ株式会社 | Tactile sensor |
| CN209158419U (en) * | 2018-12-01 | 2019-07-26 | 慧伯特（上海）智能科技有限责任公司 | Manipulator control system based on tactile |
-
2018
- 2018-12-01 CN CN201811461158.3A patent/CN109262633A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101033985A (en) * | 2007-02-08 | 2007-09-12 | 上海交通大学 | Multiple node tree structure artificial vibrissa proximity-sensing sensor |
| CN202279044U (en) * | 2011-11-02 | 2012-06-20 | 山东科技大学 | Whisker type detection device for vehicle |
| CN105881588A (en) * | 2016-04-05 | 2016-08-24 | 佛山科学技术学院 | Intelligent tactile detection probe |
| WO2018131354A1 (en) * | 2017-01-11 | 2018-07-19 | ヤマハ株式会社 | Tactile sensor |
| CN209158419U (en) * | 2018-12-01 | 2019-07-26 | 慧伯特（上海）智能科技有限责任公司 | Manipulator control system based on tactile |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190125 |