CN114161453A - Robot control method, device and system based on double handles and electronic equipment - Google Patents
Robot control method, device and system based on double handles and electronic equipment Download PDFInfo
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Abstract
The application provides a robot control method, a device and a system based on double handles and electronic equipment, and the robot control method based on the double handles comprises the following steps: acquiring first control information of a first handle and second control information of a second handle; wherein, the first handle is a force feedback handle, and the second handle is a powerless feedback handle; and generating fusion control information for the robot according to the first manipulation information and the second manipulation information. Therefore, the fusion control information not only has the comprehensiveness and sensitivity of the second control information due to the powerless feedback function, but also has the uniqueness and accuracy of the first control information due to the force feedback function, and therefore comprehensiveness, sensitivity and accuracy of robot control can be improved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot control method, device and system based on double handles and electronic equipment.
Background
In the prior art, a teleoperation handle of a robot generally has no force to feed back, and interaction force between the robot and an external environment cannot be mapped to one end of the teleoperation handle, so that an operator cannot have the immediacy of force, the accuracy of robot control is low, and danger is easy to occur.
Disclosure of Invention
An object of the embodiments of the present application is to provide a robot control method, device, system and electronic device based on dual-handle, so as to improve the accuracy of robot control.
In a first aspect, the present application provides a dual-handle-based robot control method, including: acquiring first control information of a first handle and second control information of a second handle; wherein, the first handle is a force feedback handle, and the second handle is a powerless feedback handle; and generating fusion control information for the robot according to the first manipulation information and the second manipulation information.
In one embodiment, the method for controlling a robot based on a dual-handle further includes: and controlling the robot based on the fusion control information.
In one embodiment, the first steering information includes speed information of the first handle; the second steering information includes speed information of the second handle.
In one embodiment, generating the fusion control information for the robot according to the first manipulation information and the second manipulation information includes: the following formula is used for calculation:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
wherein, velrob_cmdTo fuse control information, velhand_1Speed information for the first handle, velhand_2The speed information of the second handle is k1 is a first preset value, and k2 is a second preset value.
In one embodiment, the method for controlling a robot based on a dual-handle further includes: receiving an interactive force signal acquired by a force sensor of the robot; calculating to obtain force feedback information according to the interaction force signal; and controlling the first handle to perform force feedback according to the force feedback information.
In a second aspect, the present application provides a dual-handle based robot control device comprising: the acquisition module is used for acquiring first control information of a first handle and second control information of a second handle; wherein, the first handle is a force feedback handle, and the second handle is a powerless feedback handle; the generating module is used for generating fusion control information for the robot according to the first manipulation information and the second manipulation information.
In one embodiment, the dual-handle based robot control apparatus further comprises: and the control module is used for controlling the robot based on the fusion control information.
In one embodiment, the first steering information includes speed information of the first handle; the second steering information includes speed information of the second handle. The generation module is further configured to calculate using the following formula:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
wherein, velrob_cmdTo fuse control information, velhand_1Speed information for the first handle, velhand_2The speed information of the second handle is k1 is a first preset value, and k2 is a second preset value.
In one embodiment, the dual-handle based robot control apparatus further comprises: the receiving module is used for receiving an interaction force signal acquired by a force sensor of the robot; the calculation module is used for calculating to obtain force feedback information according to the interaction force signal; the force feedback module is used for controlling the first handle to perform force feedback according to the force feedback information.
In a third aspect, the present application provides an electronic device, comprising: a memory and a processor. The memory is used for storing a computer program; the processor is used to execute the computer program to realize the method of any one of the previous embodiments.
In a fourth aspect, the present application provides a non-transitory computer-readable storage medium comprising: a program which, when run by an electronic device, causes the electronic device to perform the method of any of the preceding embodiments.
In a fifth aspect, the present application provides a dual-handle based robot control system comprising: the robot comprises a robot body, a first handle, a second handle and a main control machine, wherein the main control machine is connected with the first handle, the second handle and the robot body. The robot is provided with a force sensor; the first handle has a first hand grip, a first detector for detecting movement of the first hand grip, and a force feedback mechanism; the force feedback mechanism is connected with the first hand grip; the second handle is provided with a second hand grip, a second detector and a resetting mechanism, the second detector is used for detecting the movement of the second hand grip, and the resetting mechanism is connected with the second hand grip.
The application discloses a robot control method, a device, a system and electronic equipment based on double handles, wherein the first control information of a first handle and the second control information of a second handle are fused to form new fusion control information, so that the fusion control information of the application not only has the special comprehensiveness and sensitivity of the second control information due to the powerless feedback function, but also has the special accuracy of the first control information due to the force feedback function, and therefore the fusion control information of the application has higher comprehensiveness, sensitivity and accuracy. When the fusion control information is used for actually controlling the robot, the comprehensiveness, the sensitivity and the accuracy of the control of the robot can be improved, and the danger is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a robot control system based on a dual-handle according to an embodiment of the present application.
Fig. 3 is a flowchart illustrating a method for controlling a robot based on a dual-handle according to an embodiment of the present disclosure.
Fig. 4 is a schematic flowchart illustrating a detailed process of step S110 in the corresponding embodiment of fig. 3 according to an embodiment of the present application.
Fig. 5 is a schematic step diagram illustrating a method for controlling a robot based on a dual-handle according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of a robot control device based on a dual-handle according to an embodiment of the present disclosure.
Icon: 100-an electronic device; 101-a bus; 102-a memory; 103-a processor; 200-a dual-handle based robot control; 210-an acquisition module; 220-a generation module; 230-a control module; 300-a dual-handle based robot control system; 310-a robot; 311-a force sensor; 320-a first handle; 321-a first gripper; 322-a first detector; 323-force feedback mechanism; 330-a second handle; 331-a second gripper; 332-a second detector; 333-a reset mechanism; 340-a master control machine; 341-velocity fusion mapper; 342-force feedback mapper.
Detailed Description
The terms "first," "second," "third," and the like are used for descriptive purposes only and not for purposes of indicating or implying relative importance, and do not denote any order or order. Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should be noted that the terms "inside", "outside", "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally arranged when products of the application are used, and are used only for convenience in describing the application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application.
In the description of the present application, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements.
The technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an electronic device 100 according to an embodiment of the present disclosure. The electronic apparatus 100 includes: at least one processor 103 and a memory 102, one processor 103 being exemplified in fig. 1. The processor 103 and the memory 102 are connected by the bus 101, and the memory 102 stores instructions executable by the processor 103, and the instructions are executed by the processor 103, so that the electronic device 100 can execute all or part of the flow of the method in the embodiments described below, so as to improve the accuracy of the robot control.
In one embodiment, the Processor 103 may be a general-purpose Processor 103, including but not limited to a Central Processing Unit (CPU) 103, a Network Processor 103 (NP), etc., a Digital Signal Processor (DSP) 103, an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor 103 may be a microprocessor 103 or the processor 103 may be any conventional processor 103 or the like, the processor 103 being the control center of the electronic device 100 and the various parts of the entire electronic device 100 being connected by various interfaces and lines. The processor 103 may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present application.
In one embodiment, the Memory 102 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, including but not limited to, a Random Access Memory (RAM) 102, a Read Only Memory (ROM) 102, a Static Random Access Memory (SRAM) 102, a Programmable Read Only Memory (PROM) 102, an Erasable Read Only Memory (EPROM) 102, and an electrically Erasable Read Only Memory (EEPROM) 102.
The electronic device 100 may be a mobile phone, a notebook computer, a desktop computer, or an operation system composed of multiple computers. Electronic device 100 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1. For example, electronic device 100 may also include input and output devices for human interaction.
Please refer to fig. 2, which is a schematic structural diagram of a dual-handle-based robot control system 300 according to an embodiment of the present disclosure. The dual-grip based robot control system 300 may be a system for controlling the robot 310, the dual-grip based robot control system 300 includes a robot 310, a first grip 320, a second grip 330, and a main controller 340, and the robot 310 may include various mobile machines such as a robot arm. The main controller 340 is electrically connected to the first handle 320, the second handle 330 and the robot 310.
In an operation process, the main control computer 340 receives and processes the operation signals of the first handle 320 and the second handle 330, and then sends the processed operation signals of the first handle 320 and the second handle 330 to the robot 310 to control the robot 310 to perform various motions. The master controller 340 may be an electrical cabinet internally installed in the robot 310 or externally installed on the robot 310, and includes components such as a power supply, a processor 103, a memory 102, a transceiver, and a central controller. The central controller may be a Microcontroller (MCU).
The robot 310 is provided with a force sensor 311, and the force sensor 311 may be a pressure sensor 311 or a tension sensor 311, and is configured to detect a contact force vector of the robot 310 and feed back a contact force between the robot 310 and the outside. For example, when the robot 310 is a robot arm, the force sensor 311 may be disposed on a clamping portion of the robot arm, and the force sensor 311 may be configured to feed back a contact force between the clamping portion of the robot arm and an object to be clamped, so that an operator may sense an interaction force between the robot 310 and an external environment, thereby providing a sense of presence of the force.
The first handle 320 is a force feedback handle, and the first handle 320 has a first grip 321, a first detector 322, and a force feedback mechanism 323, and the first grip 321 is provided to be rotatable about a designated axis and/or linearly movable in a designated direction. The first detector 322 may include an electro-optical displacement sensor and/or an angle sensor, etc. for detecting motion information such as a rotation angle, a moving distance, etc. of the first finger 321. The force feedback mechanism 323 is connected to the first gripper 321, and the force feedback mechanism 323 may include a pressing member such as a lead screw or a motor for performing force feedback.
The second handle 330 is a force feedback free handle, the second handle 330 has a second hand grip 331, a second detector 332, and a return mechanism 333, and the second hand grip 331 is provided to be rotatable about a prescribed axis and/or linearly movable in a prescribed direction. The second detector 332 may include an electro-optical displacement sensor and/or an angle sensor for detecting motion information such as a rotation angle, a moving distance, etc. of the second hand grip 331. The returning mechanism 333 is connected to the second grip 331, and the returning mechanism 333 may include an elastic member such as a spring for returning the second handle 330.
In an operation process, the main control computer 340 receives a contact force signal between the robot 310 and the outside, which is detected by the force sensor 311, in real time, then the main control computer 340 converts the contact force signal into a force required to be fed back by the first handle 320 and sends the force to the force feedback mechanism 323, and then the main control computer 340 controls the force feedback mechanism 323 to output a corresponding feedback force, so that an operator can sense the interaction force between the robot 310 and the outside environment, and the force is in-situ.
Similarly, the main control computer 340 receives the motion information of the first gripper 321 detected by the first detector 322 and the motion information of the second gripper 331 detected by the second detector 332 in real time, and then the main control computer 340 combines and converts the motion information of the first gripper 321 and the motion information of the second gripper 331 into motion information required to be executed by the robot 310.
By the operation, the action information not only has the comprehensiveness and sensitivity of the second control information due to the powerless feedback function, but also has the uniqueness and accuracy of the first control information due to the force feedback function, so that the comprehensiveness, sensitivity and accuracy of the robot control can be improved, and the danger is avoided.
In addition, the operator can have a sense of force on the spot when operating the first handle 320, the operation is more accurate, the reset principle of the reset mechanism 333 can be utilized when operating the second handle 330, the operation is more sensitive, simple and labor-saving, the second handle 330 can have gears, when the second handle 330 is kept at a certain fixed position, the second handle 330 can continuously output control information, the robot 310 can move at a constant speed, and the controllability is good.
It should be noted that the operator may operate the first handle 320 and the second handle 330 at the same time, may operate the first handle 320 and the second handle 330 sequentially, or may alternatively operate the first handle 320 or the second handle 330. The first handle 320 and the second handle 330 may be remote handles disposed outside the robot 310, or handles directly disposed on the robot 310. In this embodiment, first handle 320 and second handle 330 are remote handles.
Please refer to fig. 3, which is a flowchart illustrating a method for controlling a robot based on two handles according to an embodiment of the present application. The method can be executed by the electronic device 100 shown in fig. 1 as the master control machine 340 shown in fig. 2 to improve the comprehensiveness, sensitivity and accuracy of the robot control. The method comprises the following steps: step S110-step S130.
Step S110: first manipulation information of the first handle 320 and second manipulation information of the second handle 330 are acquired. Wherein the first handle 320 is a force feedback handle and the second handle 330 is a force feedback free handle.
The first manipulation information in this step may be transmitted to the master controller 340 after being detected by the first detector 322. The first manipulation information includes one or more of speed information, angle information, and position information of the first handle 320.
The second operation information in this step may be detected by the second detector 332 and transmitted to the main controller 340. The second manipulation information includes one or more of speed information, angle information, and position information of the second handle 330.
Step S120: from the first manipulation information and the second manipulation information, fusion control information for the robot 310 is generated.
In this step S120, the first manipulation information and the second manipulation information are fused and mapped according to a first preset function to obtain new fusion control information, so that the robot 310 may issue an instruction to perform the instruction, and obtain an expected speed tracking effect. The fusion control information not only has the comprehensiveness and sensitivity of the second control information due to the powerless feedback function of the second control information, but also has the accuracy of the first control information due to the force feedback function of the first control information, so that the comprehensiveness, sensitivity and accuracy of the robot control are improved.
It should be noted that the first preset function may be a power function or a linear function. For example: the velocity tracking mapping formula of the first preset function is as follows:
velrob_cmd＝f(velhand_1,velhand_2)；
wherein, velrob_cmdFor fusing control information, it represents desired operation speed information, vel, of the robot 310hand_1Velocity information, vel, of the first handle 320hand_2Is the velocity information of the second handle 330.
In a specific embodiment, the step S120 can be calculated by using the following formula:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
wherein, velrob_cmdTo fuse control information; velhand_1Velocity information for the first handle 320; velhand_2Velocity information for the second handle 330; k1 is a first preset value; k2 is a second preset value. k1 and k2 may be equal or different and are 0, 0.1, 0.2, 0.3, 0.5, 0.7, 0.8, 1, 2, etc. In one embodiment, k1 and k2 may be experimentally derived.
Step S130: based on the fused control information, the robot 310 is controlled.
The master controller 340 may control the operation state of the robot 310 according to the fusion control information.
It should be noted that, during the operation of the robot 310, the steps S110 to S130 may be repeated and cycled to realize the real-time control of the robot 310.
In addition, the robot 310 may be a surgical robot, an industrial robot, a housework robot, a search and rescue robot, a teaching robot, a service robot, an intelligent robot, or the like, and when the robot 310 is a surgical robot, the robot control method based on the dual-handle of the present application may be used in debugging and the like of the robot 310 before application.
Please refer to fig. 4, which is a flowchart illustrating a detailed process of step S110 in the corresponding embodiment of fig. 3 according to an embodiment of the present application. Please refer to fig. 5, which is a schematic step diagram of a robot control method based on dual-handle according to an embodiment of the present application. In order to obtain the current inertia parameter, the method comprises the following steps before step S110: step S1101-step S1103.
Step S1101: the interaction force signal collected by the force sensor 311 of the robot 310 is received.
The interaction force signal in this step is used for feeding back the contact force between the clamping portion of the robot arm and the object to be clamped, so as to prepare for force feedback by the first handle 320.
Step S1102: and calculating to obtain force feedback information according to the interaction force signal.
In step S1102, the main control computer 340 converts the interactive force signal obtained in step S1101 according to a second preset function to obtain a force required to be fed back by the first handle 320, that is, force feedback information.
It should be noted that the second preset function may be a power function or a linear function. For example: the expression of the second preset function is as follows:
Fop＝f(Frob_ext)；
wherein, Frob_extA contact force vector representing the perception of the robot 310 for the interaction force signal received in step S1101; fopThe force feedback information indicates the force to be fed back by the first handle 320.
In a specific embodiment, the step S1102 may be calculated by using the following formula:
Fop＝k3Frob-ext；
wherein, Frob_extIs an interactive force signal; fopIs force feedback information; k3 is a third preset value. k3 can be 0.1, 0.2, 0.3, 0.5, 0.7, 0.8, 1, 2, etc. In one embodiment, k3 may be obtained experimentally.
In a specific embodiment, the step S1102 may be calculated by using the following formula:
Fop＝(Frob-ext)X；
wherein, Frob_extIs an interactive force signal; fopIs force feedback information; and X is a fourth preset value. X can be 0.1, 0.2, 0.3, 0.5, 0.7, 0.8, 1, 2, etc. In one embodiment, X may be obtained experimentally.
Step S1103: and controlling the first handle 320 to perform force feedback according to the force feedback information.
The main controller 340 may control the first handle 320 for force feedback by controlling the force feedback mechanism 323.
It should be noted that steps S1101-S1103 are repeatedly performed in a loop to realize real-time feedback of the contact force between the robot 310 and the outside by the first handle 320.
As shown in fig. 5, the master controller 340 includes a velocity fusion mapper 341 and a force feedback mapper 342. The force feedback mapper 342 is used for executing the above steps S1101-S1102, and receiving the interaction force signal Frob_extAnd converts it into force feedback information Fop. The speed fusion mapper 341 is configured to perform the above steps S110 to S120, and receive the speed information vel of the first handle 320hand_1And a velocity information vel of the second handle 330hand_2And converts it into fusion control information velrob_cmd。
The velocity fusion mapper 341 and the force feedback mapper 342 may be integrally disposed or separately disposed.
Fig. 6 is a schematic structural diagram of a robot control device 200 based on two handles according to an embodiment of the present disclosure. The apparatus can be applied to the electronic device 100 shown in fig. 1, and can be used as the main controller 340 shown in fig. 2. The robot controller 200 based on the dual-handle includes: an acquisition module 210, a generation module 220, and a control module 230.
The principle relationship of each module is as follows: the collecting module 210 is configured to collect first manipulation information of the first handle 320 and second manipulation information of the second handle 330; wherein the first handle 320 is a force feedback handle and the second handle 330 is a force feedback free handle. The generating module 220 is configured to generate the fusion control information for the robot 310 according to the first manipulation information and the second manipulation information. The control module 230 is configured to control the robot 310 based on the fused control information.
In one embodiment, the first steering information includes speed information of the first handle 320; the second manipulation information includes speed information of the second handle 330. The generating module 220 is further configured to calculate by using the following formula:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
wherein, velrob_cmdTo fuse control information, velhand_1Velocity information, vel, of the first handle 320hand_2As the speed information of the second handle 330, k1 is a first preset value, and k2 is a second preset value.
In one embodiment, the dual-handle based robot controller 200 further comprises: the system comprises a receiving module, a calculating module and a force feedback module, wherein the receiving module is used for receiving an interactive force signal collected by a force sensor 311 of the robot 310; the calculation module is used for calculating to obtain force feedback information according to the interaction force signal; the force feedback module is used for controlling the first handle 320 to perform force feedback according to the force feedback information.
For a detailed description of the above-mentioned dual-handle-based robot controller 200, please refer to the description of the related method steps in the above-mentioned embodiment.
Embodiments of the present application further provide a non-transitory computer-readable storage medium, including: the program, when executed on the electronic device 100, causes the electronic device 100 to perform all or part of the flow of the method in the above-described embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory 102(Flash Memory), a Hard Disk Drive (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like. The storage medium may also include a combination of memories 102 of the sort described above.
In the embodiments provided in the present application, the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. The above description is only a preferred embodiment of the present application, and is only for the purpose of illustrating the technical solutions of the present application, and not for the purpose of limiting the present application. Any modification, equivalent replacement, improvement or the like, which would be obvious to one of ordinary skill in the art and would be within the spirit and principle of the present application, should be included within the scope of the present application.
Claims (10)
1. A robot control method based on double handles is characterized by comprising the following steps:
acquiring first control information of a first handle and second control information of a second handle; wherein the first handle is a force feedback handle and the second handle is a force-free feedback handle;
and generating fusion control information for the robot according to the first manipulation information and the second manipulation information.
2. The method of claim 1, further comprising:
and controlling the robot based on the fusion control information.
3. The method of claim 1, wherein the first steering information includes speed information of the first handle; the second steering information includes speed information of the second handle.
4. The method of claim 3, wherein generating fused control information for the robot from the first and second maneuver information comprises:
the following formula is used for calculation:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
wherein, velrob_cmdFusing the control information; velhand_1Speed information for the first handle; velhand_2Is said secondSpeed information of the handle; k1 is a first preset value; k2 is a second preset value.
5. The method according to any one of claims 1 to 4, further comprising:
receiving an interaction force signal acquired by a force sensor of the robot;
calculating to obtain force feedback information according to the interaction force signal;
and controlling the first handle to perform force feedback according to the force feedback information.
6. A dual-handle based robot control device, comprising:
the acquisition module is used for acquiring first control information of the first handle and second control information of the second handle; wherein the first handle is a force feedback handle and the second handle is a force-free feedback handle;
and the generating module is used for generating fusion control information of the robot according to the first manipulation information and the second manipulation information.
7. The apparatus of claim 6, further comprising:
and the control module is used for controlling the robot based on the fusion control information.
8. An electronic device, comprising:
a memory to store a computer program;
a processor to perform the method of any one of claims 1 to 5.
9. A non-transitory computer-readable storage medium, comprising: program which, when run by an electronic device, causes the electronic device to perform the method of any one of claims 1 to 5.
10. A robot control system based on dual handles, comprising:
a robot provided with a force sensor;
a first handle having a first hand grip, a first detector for detecting movement of the first hand grip, and a force feedback mechanism; the force feedback mechanism is connected with the first hand grip;
the second handle is provided with a second gripper, a second detector and a resetting mechanism, the second detector is used for detecting the movement of the second gripper, and the resetting mechanism is connected with the second gripper; and
and the main control machine is connected with the first handle, the second handle and the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111645917.3A CN114161453B (en) | 2021-12-30 | 2021-12-30 | Robot control method, device and system based on double handles and electronic equipment |
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| CN202111645917.3A CN114161453B (en) | 2021-12-30 | 2021-12-30 | Robot control method, device and system based on double handles and electronic equipment |
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