CN111390941B - Command input device for underwater mechanical arm control and control method - Google Patents
Command input device for underwater mechanical arm control and control method Download PDFInfo
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- CN111390941B CN111390941B CN202010381784.2A CN202010381784A CN111390941B CN 111390941 B CN111390941 B CN 111390941B CN 202010381784 A CN202010381784 A CN 202010381784A CN 111390941 B CN111390941 B CN 111390941B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Abstract
The invention relates to a command input device for controlling an underwater mechanical arm and a control method, which are divided according to modules and comprise a signal processor, a chest sensing module, a large arm sensing module, a small arm sensing module, a tail end sensing module and a connecting bus; the chest sensing module, the large arm sensing module, the small arm sensing module and the tail end sensing module are the same in composition structure, are respectively used for measuring the posture of the modules in space and are connected with each other through a connecting bus in sequence, and the other end of the chest sensing module is connected with a signal processor through the connecting bus; the structure of each sensing module comprises a mounting carrier, and a micro-electronic attitude sensor and an interface adapter are arranged on the mounting carrier. The invention uses the attitude sensor to sense the position and the attitude of the limb or the control mechanism, and converts the position and the attitude into the control intention of the underwater mechanical arm, so that an operator can control the motion position and the attitude of the end effector of the underwater mechanical arm in a rectangular coordinate system. The working efficiency of the underwater mechanical arm operators is greatly improved.
Description
Technical Field
The invention relates to the technical field of man-machine interaction equipment for controlling a mechanical arm, in particular to a command input device for controlling an underwater mechanical arm and a control method.
Background
Manned submersibles or cable-controlled Robots (ROVs) are important platforms for exploring deep sea and performing underwater surveys, construction or underwater repairs. These platforms are generally equipped with an underwater robot arm, and sampling, construction, maintenance, and the like are performed on a deep-sea object via the robot arm. In order to have a large load capacity, the current commercial underwater mechanical arms are generally driven by a hydraulic system, and most of the underwater mechanical arms are not provided with associated angle sensors, so that the automatic control technology widely applied to industrial robots is difficult to implement on the mechanical arms.
In the prior art, the control form of the underwater mechanical arm mainly has two types: one is remote control by experienced work operators located on surface mother vessels. Arranging an underwater optical video system on a mechanical arm operation site, planning a motion track and task actions of the mechanical arm by an operator according to video contents, and then respectively controlling the motion of each joint through a joint manipulator (control box); the other is a master-slave manipulator, a passive manipulator which is similar to or close to the actual manipulator in equal ratio is designed on a control box, and a rotation angle sensor is arranged on the passive manipulator; and then, transmitting the rotation angle or the rotation angle change as a joint control command to a mechanical arm on the operation site, and controlling the rotation angle motion of the mechanical arm.
In both of the above two control modes, an operator is required to manually convert the expected position and posture of the end effector of the mechanical arm into joint motion parameters of the mechanical arm, which requires a very rich operation experience and puts high demands on the operator.
Disclosure of Invention
The present applicant has provided a command input device and a command control method for controlling an underwater robot arm, which can convert the movement intention of an operator on an end effector into a movement command of a robot arm joint, aiming at the disadvantages of the prior art.
The technical scheme adopted by the invention is as follows:
a command input device for controlling an underwater mechanical arm is divided into modules and comprises a signal processor, a chest sensing module, a large arm sensing module, a small arm sensing module, a tail end sensing module and a connecting bus; the chest sensing module, the large arm sensing module, the small arm sensing module and the tail end sensing module are the same in composition structure, are respectively used for measuring the posture of the modules in space and are connected with each other through a connecting bus in sequence, and the other end of the chest sensing module is connected with the signal processor through the connecting bus; the structure of each sensing module comprises a mounting carrier, and a micro-electronic attitude sensor and an interface adapter are arranged on the mounting carrier.
As a further improvement of the above technical solution:
the installation carrier is used for installing and arranging the attitude sensor, and the interface adapter converts an output signal or an end-to-end protocol of the attitude sensor into a bus protocol which is convenient to transmit on a connection bus; the signal processor is a microprocessor with a bus interface, receives attitude data sent by each sensing module from the connecting bus, and performs fusion analysis on the attitude data to obtain the position and the attitude of the tail end sensing module relative to the chest, namely the position and the attitude of the tail end actuator of the mechanical arm which is expected in operation.
The end sensing module and the signal processor are integrated together to form a holding piece, and an input activation button and an activation indicator lamp are arranged on the holding piece; the activation button receives an output signal thereof to the signal processor and is used for switching whether the mechanical arm control input device is in an activation state or not; the signal processor outputs whether the system is in the activated state or not to the activation indicating lamp, so that the information whether the system is activated or not can be intuitively obtained through operation.
The holding piece is also provided with a manipulation mode selection button, and the manipulation mode selection button is connected with an output signal thereof to the signal processor and is used for switching the manipulation mode of the manipulator arm manipulation input device.
The holding piece is also provided with a mode indicator light for receiving the operation mode signal sent by the signal processor.
The command input device is provided with a desktop arrangement structure and a wearable arrangement structure.
The desktop type arrangement structure is as follows: the mounting seat is fixed on the operating table, one end of a large arm rod is connected with the mounting seat through a first triaxial spherical hinge, the other end of the large arm rod is connected with one end of a small arm rod through a uniaxial column hinge, the other end of the small arm rod is provided with a holding rod through a second triaxial spherical hinge, and a chest sensing module, a large arm sensing module, a small arm sensing module and a holding rod are respectively and fixedly arranged in the mounting seat, the large arm rod, the small arm rod and the holding rod.
The wearable arrangement structure is: the chest sensing module, the large arm sensing module, the small arm sensing module and the holding piece are respectively worn in the chest, the large arm and the small arm of an operator and held in the palm.
A control method of a command input device for controlling an underwater mechanical arm, an implementation process of a wearable arrangement structure, comprises the following steps:
the command input device is set to be in an inactive state by an activation button, and the activation indicator light is normally on and does not flash;
then, respectively wearing the chest sensing module, the large arm sensing module, the small arm sensing module and the holding piece in the chest, the large arm and the small arm of an operator and holding the holding piece in the palm, and holding the holding piece by hand when the underwater mechanical arm is ready to be operated after wearing, so that the arm and the palm are positioned in a comfortable position suitable for up-down, left-right, front-back and rotary motion in the chest;
secondly, an activation button of the input device is opened, the command input device is enabled to enter an activation state, an activation indicator lamp enters a slow flashing state to indicate that the input device is activated, the palm position serves as the reference position of the end effector of the underwater mechanical arm, when an operator moves a grip piece c4 relative to the reference position, the offset of the grip piece relative to the reference position is equivalently converted into the movement speed of the end effector of the underwater mechanical arm, the control command of joint movement of the mechanical arm is converted into a control command of joint movement of the mechanical arm after the mechanical arm movement is solved, the control command is sent to the underwater mechanical arm to be executed, and the posture parameter of the grip piece directly corresponds to the posture of the end effector;
after the underwater mechanical arm is operated, the activation button is operated in time, so that the input device enters an inactive state, and the underwater mechanical arm is prevented from being operated by mistake.
As a further improvement of the above technical solution:
in the process of controlling the underwater mechanical arm, when the arm moves to a position where the arm is extended too far or is not easy to operate close to the chest, the activation button can be operated, the command input device is temporarily in an inactivated state, the arm and the palm are moved to a comfortable position suitable for operation, the activation button is operated again, the input device is enabled to be in an activated state, and then the underwater mechanical arm is controlled.
The invention has the following beneficial effects:
the invention has strong engineering practicability, and the position and the gesture of the limb or the control mechanism are sensed by the gesture sensor and are converted into the control intention of the underwater mechanical arm, so that an operator can control the motion position and the gesture of the end effector of the underwater mechanical arm in a rectangular coordinate system (three-dimensional direction of a three-dimensional space). Moreover, the wearable design reduces the operation objects which need to be paid attention to by the operator, and can concentrate more on the motion control and the operation of the end effector. Alternatively, the desktop arrangement may have greater operating accuracy and job process stability. The application of the underwater mechanical arm control command input device can be expected to greatly improve the working experience of operators of the underwater mechanical arm, and further, the working efficiency is greatly improved.
Drawings
Fig. 1 is a schematic diagram of a module connection relationship according to the present invention.
Fig. 2 is a schematic structural view of the grip of the present invention.
FIG. 3 is a schematic diagram of a desktop arrangement of the present invention.
Fig. 4 is a schematic view of a wearable arrangement of the present invention.
Wherein: 1. mounting a carrier No. four; 2. a fourth attitude sensor; 3. interface adapter number four; 4. connecting a bus; 5. mounting a carrier; 6. a third attitude sensor; 7. interface adapter number three; 8. mounting a carrier II; 9. a second attitude sensor; 10. an interface adapter No. two; 11. a first mounting carrier; 12. a first attitude sensor; 13. an interface adapter; 14. a signal processor; 15. an activation button; 16. activating an indicator light; 17. a manipulation mode selection button; 18. a mode indicator light; 19. a mounting seat; 20. a first triaxial spherical hinge; 21. a large arm lever; 22. hinging the single-shaft column; 23. a small arm lever; 24. a second three-axis spherical hinge; 25. a grip lever; c1, a chest sensing module; c2, a big arm sensing module; c3, a forearm sensing module; c4, a grip.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the command input device for controlling the underwater robot arm of the present embodiment is divided into modules, and includes a signal processor 14, a chest sensing module c1, a large arm sensing module c2, a small arm sensing module c3, a terminal sensing module, and a connection bus 4; the chest sensing module, the large arm sensing module, the small arm sensing module and the tail end sensing module are the same in composition structure, are respectively used for measuring the posture of the modules in space and are connected with each other through a connecting bus 4 in sequence, and the other end of the chest sensing module is connected with a signal processor 14 through the connecting bus 4; the structure of each sensing module comprises a mounting carrier, and a micro-electronic attitude sensor and an interface adapter are arranged on the mounting carrier.
As shown in fig. 1, the mounting carrier includes a first mounting carrier 11, a second mounting carrier 8, a third mounting carrier 5 and a fourth mounting carrier 1 which respectively belong to a chest sensing module c1, a large arm sensing module c2, a small arm sensing module c3 and a tail end sensor; the micro-electronic attitude sensor comprises a first attitude sensor 12, a second attitude sensor 9, a third attitude sensor 6 and a fourth attitude sensor 2 which respectively belong to a chest sensing module c1, a big arm sensing module c2, a small arm sensing module c3 and a tail end sensor; the interface adapters comprise a first interface adapter 13, a second interface adapter 10, a third interface adapter 7 and a fourth interface adapter 3 which respectively belong to a chest sensing module c1, a large arm sensing module c2, a small arm sensing module c3 and a tail end sensor;
the mounting carrier is used for mounting and arranging the attitude sensor, and the interface adapter converts an output signal or an end-to-end protocol of the attitude sensor into a bus protocol which is convenient to transmit on the connecting bus 4, so that the transmission on the connecting bus 4 is convenient, and the system connection relation is simplified.
The signal processor 14 is a microprocessor with a bus interface, and receives attitude data sent by each sensing module from the connection bus 4, and performs fusion analysis on the attitude data to obtain the position and attitude of the end sensing module relative to the chest, that is, the position and attitude of the end effector of the manipulator, which is the same as the expected operation.
As shown in fig. 2, in order to simplify the installation form, the end sensing module shown in fig. 1 is integrated with the signal processor 14 to form a grip c4, and an input activation button 15 and an activation indicator light 16 are arranged on the grip c 4; the activation button 15 receives an output signal thereof to the signal processor 14 for switching whether the mechanical arm control input device is in an activation state; the signal processor 14 outputs the current activation state to the activation indicating lamp 16, so that the operation can intuitively obtain the information whether the system is activated.
The grip c4 is also provided with a manipulation mode selection button 17, and the manipulation mode selection button 17 has its output signal connected to the signal processor 14 for switching the manipulation mode of the robot arm manipulation input device.
The grip member c4 is also provided with a mode indicating lamp 18 for receiving the operation mode signal from the signal processor 14.
As shown in fig. 3 and 4, the command input device is provided with a desktop arrangement and a wearable arrangement.
As shown in fig. 3, the desktop arrangement is: the device comprises a mounting seat 19, wherein the mounting seat 19 is fixed on an operating table, the mounting seat 19 is connected with one end of a large arm rod 21 through a first three-axis spherical hinge 20, the other end of the large arm rod 21 is connected with one end of a small arm rod 23 through a single-axis column hinge 22, the other end of the small arm rod 23 is provided with a holding rod 25 through a second three-axis spherical hinge 24, and a chest sensing module c1, a large arm sensing module c2, a small arm sensing module c3 and a holding rod c4 are respectively and fixedly arranged in the mounting seat 19, the large arm rod 21, the small arm rod 23 and the holding rod 25.
In the implementation of the desktop type arrangement structure, the mounting seat 19 is fixed on the operation platform, the activation button 15 is used for setting the input device in a non-activated state, the large arm rod 21, the small arm rod 23 and the grip rod 25 are adjusted to a state suitable for control movement, then the activation button 15 is used for setting the input device in an activated state, and the operation of the mechanical arm is started.
As shown in fig. 4, the wearable arrangement is: the chest sensing module c1, the big arm sensing module c2, the small arm sensing module c3 and the grip c4 are respectively worn on the chest, the big arm and the small arm of the operator and held in the palm.
The control method of the command input device for controlling the underwater mechanical arm in the embodiment is an implementation process of a wearable arrangement structure, and comprises the following steps:
the command input means is set in an inactive state with the activation button 15, in which the activation indicator light 16 appears normally on and not flashing;
then, the chest sensing module c1, the large arm sensing module c2, the small arm sensing module c3 and the holding piece c4 are respectively worn on the chest, the large arm and the small arm of an operator and held in the palm, after wearing is finished, when the underwater mechanical arm is ready to be operated, the holding piece c4 is held by the hand, so that the arm and the palm are positioned at a comfortable position suitable for up-down, left-right, front-back and rotary motion in the chest;
next, the activation button 15 of the input device is turned on to put the command input device into an activated state, the activation indicator light 16 enters a slow flashing state to indicate that the input device is activated, and the palm position serves as the reference position of the end effector of the underwater robot arm, and when the operator moves the grip c4 relative to the reference position, the offset of the grip c4 relative to the reference position is equivalently converted into the movement speed of the end effector of the underwater robot arm (the "palm position" is r in the following formula)bThe vector is obtained by taking the rb vector before the activation of the input device as the reference position of the end effector, then taking the rb vector after the activation of the input device, calculating the difference with the reference position, then multiplying a proportionality factor, taking the obtained result vector as the motion speed of the end effector as the motion target for controlling the mechanical arm, converting the result vector into the control command of the joint motion of the mechanical arm after solving the motion of the mechanical arm, sending the control command to the underwater mechanical arm for execution, and sending the control command to the attitude parameter of the grip c4 to directly correspond to the attitude of the end effector (the end effector is a clamping mechanism, the attitude parameters are the heading angle and the pitch angle of a clamping shaft of the end effector, and the two parameters are directly taken from the attitude parameter of the X shaft of the grip, namely the clamping direction of the end effector is parallel to the X shaft of the grip, which is a very intuitive control mode).
After the underwater mechanical arm is operated, the activation button 15 is operated in time, so that the input device enters an inactive state, and the underwater mechanical arm is prevented from being operated by mistake.
In the process of controlling the underwater mechanical arm, when the arm moves to a position where the arm is extended too far or is not easy to operate close to the chest, the activation button 15 can be operated to temporarily enable the command input device to enter an inactivated state, the arm and the palm are moved to a comfortable position suitable for operation, the activation button 15 is operated again to enable the input device to enter an activated state, and then the underwater mechanical arm is controlled.
During the operation of the command input device with the wearable arrangement structure, the attitude sensors in the sensing modules measure the attitude angles (phi) of the chest, the upper arm, the lower arm and the palm center relative to the world coordinate systemi,θi,ψi) The subscript i is 1,2,3,4, which indicates the corresponding quantities of the end sensor modules in the chest sensor module c1, the arm sensor module c2, the forearm sensor module c3, and the grip c4, respectively;
the front chest direction, i.e., the sensor Z-axis direction, and the axial direction of the large arm and the small arm, i.e., the sensor X-axis direction, are determined, and the position of the grip c4 with respect to the operator is determined from the three vectors: for the grip c4, the application of its sensing data is determined according to the total degree of freedom of the mechanical arm to be manipulated: the sensor data of the c4 grip is the attitude angle parameters, 3 are the heading angle, the pitch angle and the roll angle, if the end effector has 6 degrees of freedom, namely 3 translational degrees of freedom (representing position) and 3 rotational degrees of freedom (representing attitude angle), the 3 parameters of the c4 grip can be fully utilized; however, some end effectors of mechanical arms have only 5 degrees of freedom, i.e. some positions and postures are not completely achieved, all 3 parameters of the c4 grip cannot be completely used, only two parameters of heading angle and pitch angle are used, and the X-axis direction of the c4 grip is taken as a certain orientation of end implementation, such as the clamping direction of the clamping jaws, and the application specific determination method of the sensing data is as follows:
establishing a working coordinate system for operating the mechanical arm at the position of the personnel, wherein the coordinate system moves along with the personnel, the OZ axis of the coordinate system is kept vertical upwards, and the OX axis horizontally points to the front of the personnel; the coordinate system is denoted by the subscript b and Oxyz is determined as followsbAnd (3) coordinate system:
a) determining the vertical axis ozbIt is taken to be the same as the global coordinate system, i.e.
b) Determining the levelShaft oxbTo make it fall on ozb12oz axis and first attitude sensor1In the axial opening plane and at oz1Near the axis, the calculation method is as follows:
first cross-multiplying oy by this two vectorbAxis, in turn by oyb，ozbTwo-axis cross-multiplication oxbA shaft;
in the formula, R1A coordinate system transformation matrix representing the output of attitude sensor number one 12,
respectively an unnormalized vector and a normalized vector of a base vector in the Y-axis direction of the working coordinate system,
normalized base vectors of the X axis of the working coordinate system;
c) structure OxyzbTransformation matrix R of coordinate systembAnd splicing the base vectors, namely the column vectors of the coordinate system row by row to obtain:
assuming that the lengths of the upper arm and the lower arm are d2 and d3, respectively, the position of the palm root, i.e. the wrist joint, in the global coordinate system can be expressed as:
in the formula, R2，R3Respectively, a transformation matrix from the upper arm coordinate system and the lower arm coordinate system to the global coordinate system,
then is the X-axis base vector and is converted into the relative seating of the personnelIn the subject system, can be described as
The vector reflects the position of the wrist root relative to the chest of an operator, and the change of the position can be mapped to a position operation instruction of the mechanical arm end effector, so that the aim of controlling the movement of the mechanical arm by moving the wrist position is fulfilled;
in the mapping process, according to the user selection, by manipulating the mode selection key 17, mapping from the amount of position change of the input device to the position change of the end effector or mapping from the amount of position change of the input device to the movement speed of the end effector may be performed, respectively;
that is, when the wrist input device deviates from the set equilibrium position, it may be set to have the end effector of the robot arm power to a specified position, or remain moving in direction until the user changes the position of the input device, and accordingly, the axial direction vector of the palm grip may be described in the relative human coordinate system as:
in the formula, R4Is a coordinate system transformation matrix output by the posture sensor 2 No. four,
the vector is an X-axis base vector, the axis direction represents the clamping direction of the manipulator end effector to be controlled, and after the clamping direction is converted into a human coordinate system, the vector still remains a unit vector, so that the corresponding heading angle and the corresponding pitch angle can be determined in the human coordinate system according to the vector:
where ψ, θ denote the heading angle and pitch angle of this axis, respectively, and the pitch angle is defined to be positive around the-y axis.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (4)
1. A control method of a command input device for controlling an underwater mechanical arm is characterized in that:
the command input device is divided into modules and comprises a signal processor (14), a chest sensing module (c1), a large arm sensing module (c2), a small arm sensing module (c3), a tail end sensing module and a connecting bus (4); the chest sensing module (c1), the big arm sensing module (c2), the small arm sensing module (c3) and the tail end sensing module are identical in composition structure, are used for measuring the postures of the modules in the space and are connected with each other sequentially through the connecting bus (4), and the other end of the chest sensing module (c1) is connected with the signal processor (14) through the connecting bus (4); each sensing module structurally comprises a mounting carrier, and a micro-electronic attitude sensor and an interface adapter are arranged on the mounting carrier;
the micro-electronic attitude sensor comprises a first attitude sensor (12), a second attitude sensor (9), a third attitude sensor (6) and a fourth attitude sensor (2) which respectively belong to a chest sensing module (c1), a big arm sensing module (c2), a small arm sensing module (c3) and a tail end sensing module;
the end sensing module is integrated with a signal processor (14) to form a grip (c4), and an input activation button (15) and an activation indicator light (16) are arranged on the grip (c 4); the activation button (15) is connected with an output signal thereof to the signal processor (14) and is used for switching whether the command input device for controlling the mechanical arm is in an activation state or not; the signal processor (14) outputs whether the system is in an activated state or not to the activation indicator lamp (16) so that the information whether the system is activated or not can be intuitively obtained through operation;
the grip piece (c4) is also provided with a manipulation mode selection button (17), and the manipulation mode selection button (17) is connected with an output signal thereof to the signal processor (14) and is used for switching the manipulation mode of the mechanical arm manipulation input device;
the holding piece (c4) is also provided with a mode indicator lamp (18) for receiving the operation mode signal sent by the signal processor (14);
implementation process of wearable arrangement structure, comprising the following steps:
setting the command input device in a non-activated state by using an activation button (15), wherein an activation indicator lamp (16) is normally on and does not flash;
then, respectively wearing the chest sensing module (c1), the big arm sensing module (c2), the small arm sensing module (c3) and the holding piece (c4) in the chest, the big arm and the small arm of an operator and holding the palm, after wearing, holding the holding piece (c4) by hand when preparing to start operating the underwater mechanical arm, and enabling the arm and the palm to be located at a comfortable position suitable for up-down, left-right, front-back and rotating motions in the chest;
secondly, an activation button (15) of the input device is turned on, the command input device is enabled to enter an activation state, an activation indicator lamp (16) enters a slow flashing state to indicate that the input device is activated, the palm position serves as a reference position of the underwater mechanical arm end effector, when an operator moves a grip piece (c4) relative to the reference position, the offset of the grip piece (c4) relative to the reference position is equivalently converted into the movement speed of the underwater mechanical arm end effector, the control command of the joint movement of the mechanical arm is converted into a control command of the joint movement of the mechanical arm after the mechanical arm movement is solved, the control command is sent to the underwater mechanical arm to be executed, and the posture parameter of the grip piece (c4) directly corresponds to the posture of the end effector;
establishing a working coordinate system for operating the mechanical arm at the position of the personnel, wherein the coordinate system moves along with the personnel, the OZ axis of the coordinate system is kept vertical upwards, and the OX axis horizontally points to the front of the personnel; the coordinate system is denoted by the subscript b and Oxyz is determined as followsbAnd (3) coordinate system:
a) determining the vertical axis ozbIt is taken to be the same as the global coordinate system, i.e.
b) Determination of the horizontal axis oxbTo make it fall on ozbAxis and first attitude sensor (12) oz1In the axial opening plane and at oz1Near the axis, the calculation method is as follows:
first from the two vectors
And vx,bCross-car-ride-oybAxis, in turn by oyb，ozbTwo-axis cross-multiplication oxbA shaft;
in the formula, R1Coordinate system transformation matrix representing the output of attitude sensor number one (12), ey,b,
Respectively an unnormalized vector and a normalized vector of a base vector in the Y-axis direction of the working coordinate system,
normalized base vectors of the X axis of the working coordinate system;
c) structure OxyzbTransformation matrix R of coordinate systembAnd splicing the base vectors, namely the column vectors of the coordinate system row by row to obtain:
assuming that the lengths of the upper arm and the lower arm are d2 and d3, respectively, the position of the palm root, i.e. the wrist joint, in the global coordinate system can be expressed as:
in the formula, R2，R3Respectively, a transformation matrix from the upper arm coordinate system and the lower arm coordinate system to the global coordinate system,
then is an X-axis base vector, and then is converted into a relative coordinate system of the personnel, which can be described as
Vector rbThe position of the wrist root relative to the chest of an operator is reflected, and the change of the position can be mapped to a position operation instruction of the mechanical arm end effector, so that the aim of controlling the movement of the mechanical arm by moving the wrist position is fulfilled;
after the underwater mechanical arm is operated, the activation button (15) is operated in time, so that the input device enters an inactive state, and the underwater mechanical arm is prevented from being operated by mistake.
2. The manipulation method of a command input device for manipulation of an underwater robot arm as claimed in claim 1, wherein: the mounting carrier is used for mounting and arranging the attitude sensor, and the interface adapter converts an output signal or an end-to-end protocol of the attitude sensor into a bus protocol which is convenient to transmit on the connecting bus (4); the signal processor (14) is a microprocessor with a bus interface, receives attitude data sent by each sensing module from the connecting bus (4), and performs fusion analysis on the attitude data to obtain the position and the attitude of the tail end sensing module relative to the chest, namely the position and the attitude of the end effector of the mechanical arm which is expected by operation.
3. The manipulation method of a command input device for manipulation of an underwater robot arm as claimed in claim 1, wherein: the wearable arrangement structure is: the chest sensing module (c1), the big arm sensing module (c2), the small arm sensing module (c3) and the holding piece (c4) are respectively worn on the chest, the big arm and the small arm of an operator and held in the palm.
4. The manipulation method of a command input device for manipulation of an underwater robot arm as claimed in claim 1, wherein: during the operation of the underwater mechanical arm, when the arm moves to a position where the arm is extended too far or is not easy to operate close to the chest, the activation button (15) can be operated to temporarily enable the command input device to enter an inactivated state, the arm and the palm are moved to a comfortable position suitable for operation, the activation button (15) is operated again to enable the input device to enter an activated state, and then the underwater mechanical arm is operated.
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| CN209737631U (en) * | 2019-04-03 | 2019-12-06 | 刘桂伶 | Somatosensory control type bionic mechanical arm for underwater robot |
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| US20080009771A1 (en) * | 2006-03-29 | 2008-01-10 | Joel Perry | Exoskeleton |
| KR101992149B1 (en) * | 2015-08-25 | 2019-06-25 | 한국전자통신연구원 | Wearable Apparatus for measuring position and action of Arm |
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| CN1586831A (en) * | 2004-07-09 | 2005-03-02 | 北京理工大学 | Six-freedom remote control arm with gravity compensation and length regulation |
| CN1836852A (en) * | 2005-03-21 | 2006-09-27 | 山东科技大学 | Multiple joint operating bar |
| CN107363813A (en) * | 2017-08-17 | 2017-11-21 | 北京航空航天大学 | A kind of desktop industrial robot teaching system and method based on wearable device |
| EP3495094A1 (en) * | 2017-12-07 | 2019-06-12 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
| CN209737631U (en) * | 2019-04-03 | 2019-12-06 | 刘桂伶 | Somatosensory control type bionic mechanical arm for underwater robot |
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