CN116476082A - Five-degree-of-freedom parallel robot control method following human hand movement - Google Patents

Five-degree-of-freedom parallel robot control method following human hand movement Download PDF

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Publication number
CN116476082A
CN116476082A CN202310750045.XA CN202310750045A CN116476082A CN 116476082 A CN116476082 A CN 116476082A CN 202310750045 A CN202310750045 A CN 202310750045A CN 116476082 A CN116476082 A CN 116476082A
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China
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degree
freedom
platform
acceleration
acceleration sensor
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CN116476082B (en
Inventor
王恺
谢凌波
卢清华
张云志
陈为林
罗陆锋
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Foshan University
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Foshan University
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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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention relates to the technical field of robots, and provides a five-degree-of-freedom parallel robot control method following the movement of hands, which comprises the following steps: acquiring target pose information through a signal acquisition device which can be held by a human hand; driving the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-joint-simulating platform to move according to the target pose information, so that the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-joint-simulating platform respectively move to the target pose corresponding to the target pose information; the five-degree-of-freedom parallel robot comprises a three-degree-of-freedom parallel platform, a two-degree-of-freedom shoulder joint simulating platform and a detection control system, wherein the detection control system comprises a signal acquisition device, and the two-degree-of-freedom shoulder joint simulating platform is arranged on the three-degree-of-freedom parallel platform. The invention reduces the control difficulty, has simple operation and quick dynamic response.

Description

Five-degree-of-freedom parallel robot control method following human hand movement
Technical Field
The invention relates to the technical field of robots, in particular to a five-degree-of-freedom parallel robot control method capable of following human hand movement.
Background
The serial-parallel platform comprises a serial mechanism and a parallel mechanism, wherein the serial mechanism is connected by a connecting rod and a kinematic pair in a serial mode, and has the advantages of simple structure, large working space and the like. The parallel mechanism is that a plurality of freedom degree end effectors are connected with the fixed base through two or more independent movement branched chains, and has the advantages of large integral rigidity, small error, strong bearing capacity and the like. The serial-parallel mechanism integrates the advantages of serial connection and parallel connection, and is applied to the precision fields such as aerospace, manufacturing equipment, measurement, positioning and the like.
Because the serial-parallel mechanism synthesizes the serial mechanism and the parallel mechanism, the control difficulty is increased, and the application of the serial-parallel mechanism is limited to a certain extent. Therefore, research on a serial-parallel platform control method with simple control has important research significance.
Disclosure of Invention
Based on the control difficulty of the serial-parallel platform, the invention provides a five-degree-of-freedom parallel robot control method following the movement of a human hand, which comprises the following specific technical scheme:
a five-degree-of-freedom parallel robot control method following human hand movement comprises the following steps:
acquiring target pose information through a signal acquisition device which can be held by a human hand;
driving a three-degree-of-freedom parallel platform and a two-degree-of-freedom shoulder joint simulating platform to move according to the target pose information, so that the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder joint simulating platform respectively move to target poses corresponding to the target pose information;
the five-degree-of-freedom parallel robot comprises a three-degree-of-freedom parallel platform, a two-degree-of-freedom shoulder joint simulating platform and a detection control system, wherein the detection control system comprises a signal acquisition device, and the two-degree-of-freedom shoulder joint simulating platform is arranged on the three-degree-of-freedom parallel platform.
According to the five-degree-of-freedom parallel robot control method, target pose information is acquired through the signal acquisition device which can be held by a human hand, the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder joint imitation platform are controlled to move to target poses corresponding to the target pose information respectively according to the target pose information, the five-degree-of-freedom parallel robot is controlled to move based on acceleration information of the movement of the human hand, control difficulty is reduced, operation is simple, and dynamic response is fast.
Further, the signal acquisition device comprises an acceleration sensor integration module, the acceleration degree sensing integration module comprises a first acceleration sensor, a second acceleration sensor, a third acceleration sensor and a fourth acceleration sensor, and the specific method for acquiring target pose information through the signal acquisition device which can be held by a human hand comprises the following steps: acquiring the acceleration through the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->For the acceleration->Said acceleration ∈ ->Processing is carried out to obtain target pose information;
wherein ,，/>，/> and />The first acceleration sensor and the second acceleration sensor are respectively detected with noise +.>Is->Acceleration in the axial direction, ++> and />The noise detected by the acceleration sensor III and the acceleration sensor IV are respectively carried with +.>Is->Acceleration in the axial direction.
Further, the acceleration sensor integrated module is used for acquiring the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->For the acceleration->Said acceleration ∈ ->The specific method for processing and acquiring the target pose information comprises the following steps:
based on the acceleration sensorIntegrated module inAcceleration of the shaft-> and />Acceleration of the shaft->Acquiring five-degree-of-freedom motion information of an acceleration sensor integrated module;
decomposing the five-degree-of-freedom motion information into two-degree-of-freedom motion information of plane movement and three-degree-of-freedom motion information of space rotation;
and acquiring the target pose information according to the two-degree-of-freedom motion information of plane movement and the three-degree-of-freedom motion information of space rotation.
Further, the specific method for driving the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-like joint platform to move according to the target pose information so as to enable the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-like joint platform to move to the target pose corresponding to the target pose information respectively comprises the following steps:
when the acceleration sensor integrated module is detected to move on the plane or wind aroundWhen the shaft rotates, the three-degree-of-freedom parallel platform is controlled to move to a corresponding target pose;
when detecting that the acceleration sensor integrated module is wound aroundShaft or winding->And when the shaft rotates, controlling the two-degree-of-freedom shoulder joint imitation platform to move to a corresponding target pose.
Further, the three-degree-of-freedom parallel platform includes:
a static platform;
the three parallel branches comprise guide rails, a servo motor, a screw rod, a sliding block, a driven rod and a connecting block, wherein the guide rails of the three parallel branches are fixedly arranged on the static platform at an included angle of 120 degrees, the servo motor is in transmission connection with the screw rod through a coupler, the screw rod is in transmission connection with the sliding block, the sliding block is in sliding connection with the guide rails, one end of the driven rod is connected with the sliding block, and the connecting block is arranged on the driven rod;
the movable platform is fixedly arranged on the connecting block.
Further, the two-degree-of-freedom shoulder joint imitation platform comprises:
the bottom plate is fixedly arranged on the movable platform;
shoulder joint cube;
the shoulder joint simulating device comprises two shoulder joint simulating branches, wherein each shoulder joint simulating branch comprises a shoulder joint driving group, a joint big arm and a joint small arm which are sequentially connected, the shoulder joint driving groups of the two shoulder joint simulating branches are vertically arranged on a bottom plate, and the shoulder joint driving groups drive the shoulder joint big arm and the joint small arm to drive the shoulder joint to conduct cubic rotary motion.
Further, the detection control system further comprises an upper computer, an A/D data acquisition card, a control card and a servo driver, wherein the upper computer is respectively connected with the A/D data acquisition card and the control card in a signal manner, and the servo driver is respectively connected with the control card and the shoulder joint driving group in a signal manner.
Further, the specific method for controlling the three-degree-of-freedom parallel platform to move to the target pose corresponding to the two-degree-of-freedom motion information of the plane movement comprises the following steps:
establishing kinematic equations of parallel branches；
Acquiring the first according to the kinematic equationLength of slider to end of servo motor；
Acquisition of the firstSpeed of movement of slider in parallel branches；
wherein ,is->Guide rail and ∈two parallel branches>Angle of positive axis->Is->Length of driven rod of parallel branch, +.>Is->Driven rod and +.>Angle of positive axis-> and />Is->The position of the axis of the connecting block of the parallel branches, < >> and />Is->The position of the end of the servo motor of the parallel branch.
Further, the specific method for controlling the three-degree-of-freedom parallel platform to move to the target pose corresponding to the two-degree-of-freedom motion information of the plane movement further comprises the following steps:
according to the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->Acquiring the acceleration sensor integrated module at +.>Shaft +.>Speed in axial direction> and />；
According to the acceleration sensor integrated moduleShaft +.>Speed in axial direction>First->And controlling the motion speed of the sliding blocks of the parallel branches to control the three-degree-of-freedom parallel platform to move to a target pose corresponding to the two-degree-of-freedom motion information of the plane movement.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic overall flow diagram of a five degree of freedom parallel robot control method following human hand movement in an embodiment of the present invention;
FIG. 2 is a schematic diagram of motion of an acceleration sensor integrated block controlled parallel platform and a shoulder joint simulating platform according to an embodiment of the invention
FIG. 3 is a schematic diagram of the overall structure of a five-degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of acceleration signals of the acceleration sensor chip translating along the x-axis direction according to an embodiment of the present invention;
FIG. 5 is a graph showing rotational acceleration signals of a acceleration sensor package about an x-axis in accordance with one embodiment of the present invention;
FIG. 6 is a schematic overall flow diagram of a five degree of freedom parallel robot control method following human hand movement in another embodiment of the present invention;
FIG. 7 is a schematic diagram of a single parallel branch structure in an embodiment of the present invention.
Reference numerals illustrate:
1. a static platform; 2. a movable platform; 3. a connecting block; 4. a guide rail; 5. a servo motor; 6. a screw rod; 7. a slide block; 8. a driven rod; 9. a bottom plate; 10. shoulder joint cube; 11. a shoulder joint driving group; 12. a joint big arm; 13. a joint forearm; 14. and the acceleration sensor integrated module.
Detailed Description
The present invention will be described in further detail with reference to the following examples thereof in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The terms "first" and "second" in this specification do not denote a particular quantity or order, but rather are used for distinguishing between similar or identical items.
As shown in fig. 1, a five-degree-of-freedom parallel robot control method according to an embodiment of the present invention, which follows a human hand, includes the following steps:
s1, acquiring target pose information through a signal acquisition device which can be held by a human hand.
Preferably, as shown in fig. 3, the signal acquisition device comprises an acceleration sensor integration module 14, and the acceleration sensor integration module comprises a first acceleration sensor and a second acceleration sensorThe specific method for acquiring the target pose information through the signal acquisition device capable of being held by a human hand comprises the following steps of: acquiring the acceleration through the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->For the acceleration->Said acceleration ∈ ->And processing to obtain target pose information.
As shown in fig. 4 and 5, by the acceleration sensor integrated module, an acceleration sensor integrated module edge can be obtainedAxis-oriented planar movement and winding +.>Acceleration signal of axial rotation. Through the acceleration sensor integrated module, the moving speed of the human hand can be obtained.
Acquiring the acceleration through the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->For the acceleration->Said acceleration ∈ ->The specific method for processing and acquiring the target pose information comprises the following steps:
according to the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->Acquiring five-degree-of-freedom motion information of an acceleration sensor integrated module;
decomposing the five-degree-of-freedom motion information into two-degree-of-freedom motion information of plane movement and three-degree-of-freedom motion information of space rotation;
and acquiring the target pose information according to the two-degree-of-freedom motion information of plane movement and the three-degree-of-freedom motion information of space rotation.
wherein ,，/>，/> and />The first acceleration sensor and the second acceleration sensor respectivelyWith noise detected by the detector>Is->Acceleration in the axial direction, ++> and />The noise detected by the acceleration sensor III and the acceleration sensor IV are respectively carried with +.>Is->Acceleration in the axial direction.
S2, driving the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-joint-simulating platform to move according to the target pose information, so that the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-joint-simulating platform respectively move to target poses corresponding to the target pose information.
The five-degree-of-freedom parallel robot comprises a three-degree-of-freedom parallel platform, a two-degree-of-freedom shoulder joint simulating platform and a detection control system, wherein the detection control system comprises a signal acquisition device, and the two-degree-of-freedom shoulder joint simulating platform is arranged on the three-degree-of-freedom parallel platform as shown in fig. 2.
The three-degree-of-freedom parallel platform comprises a static platform 1, a dynamic platform 2 and three parallel branches.
As shown in fig. 2 and 7, each parallel branch includes a guide rail 4, a servo motor 5, a screw rod 6, a slider 7, a driven rod 8 and a connecting block 3, the guide rails of the three parallel branches are fixedly installed on the static platform at an included angle of 120 degrees, the servo motor is connected with the screw rod through a coupling in a transmission manner, the screw rod is connected with the slider in a transmission manner, the slider is in sliding connection with the guide rail, one end of the driven rod is connected with the slider, the connecting block is installed on the driven rod, and the movable platform is in a regular hexagon shape and is installed on the connecting block.
In particular, three of the parallel branches are combined so that the mobile platform can move in a plane and aroundThe shaft rotates, so that three-degree-of-freedom motion of the parallel platform is realized, the servo motor drives the sliding block and the driven rod through the coupler and the screw rod, and then drives the connecting block, and finally drives the movable platform to move to a plane target position.
As shown in fig. 2, the two-degree-of-freedom shoulder-like joint platform comprises a base plate 9, a shoulder joint cube 10 and two shoulder-like joint branches.
The base plate is fixedly arranged on the movable platform, each shoulder joint imitating branch comprises a shoulder joint driving group 11, a joint big arm 12 and a joint small arm 13 which are sequentially connected, the shoulder joint driving groups of the two shoulder joint imitating branches are vertically arranged on the base plate, and the shoulder joint driving groups drive the shoulder joint cubic rotation motion through driving the joint big arm and the joint small arm.
Specifically, the shoulder joint driving group comprises a driving motor, a speed reducer and a driving group base, wherein the driving motor is fixedly arranged on the bottom plate through the driving group base, and is in transmission connection with the speed reducer and drives the large joint arm and the small joint arm to move through the speed reducer, so that the shoulder joint cube arranged on the small joint arm is rotationally positioned to a target angle.
Preferably, the detection control system further comprises an upper computer, an A/D data acquisition card, a control card and a servo driver, wherein the upper computer is respectively connected with the A/D data acquisition card and the control card in a signal manner, the servo driver is respectively connected with the control card and the shoulder joint driving group in a signal manner, and the A/D data acquisition card is connected with the acceleration sensor integration module in a signal manner through a charge amplifier. Specifically, the servo driver is in signal connection with the control card through a D/A conversion card, and the industrial personal computer controls the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder joint simulating platform to move according to the model of the acceleration sensor integrated module.
Optionally, after the acceleration signal collected by the acceleration sensor integration module is amplified by the charge amplifier, the acceleration signal is converted into a numerical signal by the A/D data acquisition card and is input into the industrial personal computer, the industrial personal computer processes the acceleration signal according to difference and integral operation to obtain target pose information of the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder joint simulation platform, and the industrial personal computer drives the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder joint simulation platform to move to the target pose through the control card and the servo driver.
The five-degree-of-freedom parallel robot comprises a three-degree-of-freedom parallel platform and a two-degree-of-freedom shoulder joint simulating platform, combines a planar parallel platform and a spatial serial-parallel mechanical arm, and has the characteristics of high overall rigidity and high bearing capacity.
According to the five-degree-of-freedom parallel robot control method, the model acquisition device held by a human hand is utilized to acquire target pose information and control the five-degree-of-freedom parallel robot to move, and the five-degree-of-freedom parallel robot control method has the characteristics of simple equipment, high measurement precision and quick dynamic response, and can realize flexible movement of the five-degree-of-freedom parallel robot.
That is, the five-degree-of-freedom parallel robot control method obtains target pose information through the signal acquisition device which can be held by a human hand, and then controls the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder joint imitation platform to move to target poses corresponding to the target pose information respectively according to the target pose information, and controls the five-degree-of-freedom parallel robot to move based on acceleration information of the human hand movement, so that control difficulty is reduced, operation is simple, and dynamic response is fast.
In one embodiment, the specific method for driving the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-joint-simulating platform to move according to the target pose information so as to enable the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-joint-simulating platform to move to the target pose corresponding to the target pose information respectively comprises the following steps:
when the acceleration sensor integrated module is detected to move on the plane or wind aroundWhen the shaft rotates, the three-degree-of-freedom parallel platform is controlled to move to a corresponding target pose;
when detecting that the acceleration sensor integrated module is wound aroundShaft or winding->And when the shaft rotates, controlling the two-degree-of-freedom shoulder joint imitation platform to move to a corresponding target pose.
Preferably, the specific method for controlling the three-degree-of-freedom parallel platform to move to the target pose corresponding to the two-degree-of-freedom motion information of the plane movement comprises the following steps:
establishing kinematic equations of parallel branches；
Acquiring the first according to the kinematic equationThe length of the axis of the sliding block of the parallel branch to the tail end of the servo motor>；
Acquisition of the firstSpeed of movement of slider in parallel branches；
wherein ,is->Guide rail and ∈two parallel branches>Angle of positive axis->Is->Length of driven rod of parallel branch, +.>Is->Driven rod and +.>Angle of positive axis-> and />Is->The position of the axis of the connecting block of the parallel branches, < >> and />Is->The position of the end of the servo motor of the parallel branch.
The specific method for controlling the three-degree-of-freedom parallel platform to move to the target pose corresponding to the two-degree-of-freedom movement information of the plane movement further comprises the following steps:
according to the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->Acquiring the acceleration sensor integrated module at +.>Shaft +.>Speed in axial direction> and />；
According to the acceleration sensor integrated moduleShaft +.>Speed in axial direction>First->And controlling the motion speed of the sliding blocks of the parallel branches to control the three-degree-of-freedom parallel platform to move to a target pose corresponding to the two-degree-of-freedom motion information of the plane movement.
In one embodiment, as shown in fig. 6, the specific flow of the five-degree-of-freedom parallel robot control method following the movement of a human hand according to the present invention includes:
starting a detection control system;
the acceleration sensor integrated module is driven to rotate and translate (namely plane movement) through hand movement;
the A/D data acquisition card acquires acceleration information of the acceleration sensor integrated module;
the PC control system (i.e. the industrial personal computer) carries out differential operation and integral operation on the acceleration information to obtain the speed of the acceleration sensor integrated module;
the PC control system performs kinematic inverse solution on the speed of the acceleration sensor integration ok to obtain the speed of the sliding block;
the PC control system inputs the slider speed information into the motion control card;
the motion control card controls the servo motor to move through a servo driver;
the whole platform (comprising three-degree-of-freedom parallel platform movement and two-degree-of-freedom shoulder joint imitation platform movement) is driven to move by driving a servo motor to move so as to follow the hand movement.
In the invention, the model of the control card is DMC-4143, the model of the parallel-branched servo motor is SGM7A-10AFA61, and the model of the corresponding servo driver is SGD7S-120A00A; the model of a driving motor of the two-degree-of-freedom shoulder joint imitation platform is SGM7A-08AFA61, the model of a corresponding servo driver is SGD7S-5R5A00A, and the model of a speed reducer is FB90-30-SGM7A-08AFA61; the model of the charge amplifier is YE5850, the model of the data acquisition card is NI USB-6218, and the model of the acceleration sensor is YMC232A01.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (9)

1. The five-degree-of-freedom parallel robot control method following the movement of the human hand is characterized by comprising the following steps of:
acquiring target pose information through a signal acquisition device which can be held by a human hand;
driving a three-degree-of-freedom parallel platform and a two-degree-of-freedom shoulder joint simulating platform to move according to the target pose information, so that the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder joint simulating platform respectively move to target poses corresponding to the target pose information;
the five-degree-of-freedom parallel robot comprises a three-degree-of-freedom parallel platform, a two-degree-of-freedom shoulder joint simulating platform and a detection control system, wherein the detection control system comprises a signal acquisition device, and the two-degree-of-freedom shoulder joint simulating platform is arranged on the three-degree-of-freedom parallel platform.
2. The control method of the five-degree-of-freedom parallel robot following the movement of a human hand according to claim 1, wherein the signal acquisition device comprises an acceleration sensor integration module, the acceleration sensor integration module comprises a first acceleration sensor, a second acceleration sensor, a third acceleration sensor and a fourth acceleration sensor, and the specific method for acquiring the target pose information through the signal acquisition device which can be held by the human hand comprises the following steps: acquiring the acceleration through the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->For the acceleration->Said acceleration ∈ ->Processing is carried out to obtain target pose information;
wherein ,，/>，/> and />The first acceleration sensor and the second acceleration sensor are respectively detected with noise +.>Is->Acceleration in the axial direction, ++> and />The noise detected by the acceleration sensor III and the acceleration sensor IV are respectively carried with +.>Is->Acceleration in the axial direction.
3. The control method of a five-degree-of-freedom parallel robot following human hand movement according to claim 2, wherein the acceleration sensor integration module is used for acquiring the motion of the human handAcceleration of the shaft-> and />Acceleration of the shaft->For the acceleration->Said acceleration ∈ ->The specific method for processing and acquiring the target pose information comprises the following steps:
according to the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->Acquiring five-degree-of-freedom motion information of an acceleration sensor integrated module;
decomposing the five-degree-of-freedom motion information into two-degree-of-freedom motion information of plane movement and three-degree-of-freedom motion information of space rotation;
and acquiring the target pose information according to the two-degree-of-freedom motion information of plane movement and the three-degree-of-freedom motion information of space rotation.
4. The method for controlling a five-degree-of-freedom parallel robot following a human hand according to claim 3, wherein the specific method for driving the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-like joint platform to move according to the target pose information so as to respectively move the three-degree-of-freedom parallel platform and the two-degree-of-freedom shoulder-like joint platform to the target pose corresponding to the target pose information comprises the following steps:
when the acceleration sensor integrated module is detected to move on the plane or wind aroundWhen the shaft rotates, the three-degree-of-freedom parallel platform is controlled to move to a corresponding target pose;
when detecting that the acceleration sensor integrated module is wound aroundShaft or winding->And when the shaft rotates, controlling the two-degree-of-freedom shoulder joint imitation platform to move to a corresponding target pose.
5. The method for controlling a five-degree-of-freedom parallel robot following a human hand motion according to claim 4, wherein the three-degree-of-freedom parallel platform comprises:
a static platform;
the three parallel branches comprise guide rails, a servo motor, a screw rod, a sliding block, a driven rod and a connecting block, wherein the guide rails of the three parallel branches are fixedly arranged on the static platform at an included angle of 120 degrees, the servo motor is in transmission connection with the screw rod through a coupler, the screw rod is in transmission connection with the sliding block, the sliding block is in sliding connection with the guide rails, one end of the driven rod is connected with the sliding block, and the connecting block is arranged on the driven rod;
the movable platform is fixedly arranged on the connecting block.
6. The method for controlling a five-degree-of-freedom parallel robot following a human hand according to claim 5, wherein the two-degree-of-freedom shoulder joint imitation platform comprises:
the bottom plate is fixedly arranged on the movable platform;
shoulder joint cube;
the shoulder joint simulating device comprises two shoulder joint simulating branches, wherein each shoulder joint simulating branch comprises a shoulder joint driving group, a joint big arm and a joint small arm which are sequentially connected, the shoulder joint driving groups of the two shoulder joint simulating branches are vertically arranged on a bottom plate, and the shoulder joint driving groups drive the shoulder joint big arm and the joint small arm to drive the shoulder joint to conduct cubic rotary motion.
7. The method for controlling the five-degree-of-freedom parallel robot following the movement of human hands according to claim 6, wherein the detection control system further comprises an upper computer, an A/D data acquisition card, a control card and a servo driver, wherein the upper computer is respectively connected with the A/D data acquisition card and the control card in a signal manner, and the servo driver is respectively connected with the control card and the shoulder joint driving group in a signal manner.
8. The method for controlling a five-degree-of-freedom parallel robot following a human hand movement according to claim 7, wherein the specific method for controlling the three-degree-of-freedom parallel platform movement to a target pose corresponding to the two-degree-of-freedom movement information of the planar movement comprises the steps of:
establishing kinematic equations of parallel branches；
Acquiring the first according to the kinematic equationLength of slider to end of servo motor；
Acquisition of the firstSpeed of movement of slider in parallel branches；
wherein ,is->Guide rail and ∈two parallel branches>Angle of positive axis->Is->Length of driven rod of parallel branch, +.>Is->Driven rod and +.>Angle of positive axis-> and />Is->The position of the axis of the connecting block of the parallel branches, < >> and />Is->The position of the end of the servo motor of the parallel branch.
9. The method for controlling a five-degree-of-freedom parallel robot following a human hand movement according to claim 8, wherein the specific method for controlling the three-degree-of-freedom parallel platform to move to a target pose corresponding to the two-degree-of-freedom movement information of the planar movement further comprises the steps of:
according to the acceleration sensor integrated moduleAcceleration of the shaft-> and />Acceleration of the shaft->Acquisition stationThe acceleration sensor integrated module is +.>Shaft +.>Speed in axial direction> and />；
According to the acceleration sensor integrated moduleShaft +.>Speed in axial direction>First->And controlling the motion speed of the sliding blocks of the parallel branches to control the three-degree-of-freedom parallel platform to move to a target pose corresponding to the two-degree-of-freedom motion information of the plane movement.
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