CN119077779B - Manipulator, robot arm, robot control method, control system and computer readable storage medium - Google Patents
Manipulator, robot arm, robot control method, control system and computer readable storage medium Download PDFInfo
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- CN119077779B CN119077779B CN202411588545.9A CN202411588545A CN119077779B CN 119077779 B CN119077779 B CN 119077779B CN 202411588545 A CN202411588545 A CN 202411588545A CN 119077779 B CN119077779 B CN 119077779B
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000000694 effects Effects 0.000 claims abstract description 34
- 238000005452 bending Methods 0.000 claims description 45
- 230000008602 contraction Effects 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 7
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Automation & Control Theory (AREA)
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Abstract
本发明公开了一种机械手、机器手、机器人的控制方法、控制系统及计算机可读存储介质。控制方法包括步骤：确定机械手的目标任务；根据所述目标任务，确定各指部的活动参数；所述活动参数包括：转动角度；根据所述指部的活动参数控制所述指部活动，以执行所述目标任务。由于第一指部和第二指部的转动方式不相同，且均具有两种不同的转动方式，则机械手的灵活度较高。通过确定机械手的目标任务，再根据目标任务，确定各指部的活动参数，然后根据指部的活动参数控制指部活动，以执行或完成目标任务。通过各个指部的活动参数准确控制第一指部和第二指部的转动，使得机械手的灵活度较高且控制准确性较高。
The present invention discloses a control method, a control system and a computer-readable storage medium for a manipulator, a robotic arm and a robot. The control method comprises the steps of: determining a target task of the manipulator; determining the activity parameters of each finger according to the target task; the activity parameters include: a rotation angle; controlling the activity of the finger according to the activity parameters of the finger to perform the target task. Since the rotation modes of the first finger and the second finger are different, and both have two different rotation modes, the manipulator has a high degree of flexibility. By determining the target task of the manipulator, and then determining the activity parameters of each finger according to the target task, and then controlling the activity of the finger according to the activity parameters of the finger to perform or complete the target task. The rotation of the first finger and the second finger is accurately controlled by the activity parameters of each finger, so that the manipulator has a high degree of flexibility and a high degree of control accuracy.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a manipulator, a control method and a control system for a robot, and a computer readable storage medium.
Background
The robot is typically controlled by a preprogrammed program or by means of human interaction. With the continuous development of technology, the manipulator is more intelligent and automatic, so that the manipulator or robot is developed, for example, the manipulator or robot senses external conditions through sensors and performs feedback or performs corresponding control. In the field of industrial robots, the design and control of robots is very important. The smart and accurate robot has better application prospect in the aspect of controlling complex objects. A robot typically has multiple fingers that are controlled to move to perform a variety of different tasks. In the prior art, the flexibility and the accuracy of the manipulator are not easy to be compatible, the higher the flexibility is, the lower the accuracy of control is, and the higher the accuracy of control is, the lower the flexibility is.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
The invention aims to solve the problems of the prior art, namely, to provide a manipulator, a control method and a control system for the manipulator and a robot and a computer readable storage medium, and aims to solve the problems that the flexibility and the accuracy of the manipulator are not easy to be compatible in the prior art.
The technical scheme adopted for solving the technical problems is as follows:
A control method of a manipulator, wherein the manipulator comprises a palm part and at least two finger parts, the finger parts are arranged on the palm part, a first finger part of the at least two finger parts rotates in a surface where the palm part is positioned and rotates in a first vertical surface of the palm part, a second finger part of the at least two finger parts rotates in a second vertical surface of the palm part and rotates in a third vertical surface of the palm part, and the control method comprises the following steps:
determining a target task of the manipulator;
determining the activity parameters of each finger part according to the target task, wherein the activity parameters comprise a rotation angle;
and controlling the finger to move according to the movement parameters of the finger so as to execute the target task.
The control method of the manipulator comprises the steps that the rotation angle of a first finger part comprises an x-axis angle of the first finger part and a z-axis angle of the first finger part, the rotation angle of a second finger part comprises a y-axis angle of the second finger part and a z-axis angle of the second finger part, and the movement of the finger part is controlled according to the movement parameters of the finger part so as to execute the target task, and the control method comprises the following steps:
Controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger;
And controlling the second finger to rotate according to the y-axis angle and the z-axis angle of the second finger.
The control method of the manipulator, wherein the first finger part comprises:
The first finger is movably connected with the palm part;
the first telescopic component is arranged on the palm part and is movably connected with the first finger;
The second telescopic component is arranged on the palm part and is movably connected with the first finger;
the controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger comprises:
determining the expansion and contraction amount of the first expansion and contraction assembly and the expansion and contraction amount of the second expansion and contraction assembly according to the x-axis angle and the z-axis angle of the first finger part;
Controlling the first telescopic component to stretch according to the stretching amount of the first telescopic component;
and controlling the second telescopic assembly to stretch according to the stretching amount of the second telescopic assembly.
The control method of the manipulator, wherein the second finger part comprises:
the second finger is movably connected with the palm part;
The second rotating assembly is arranged on the palm part and is movably connected with the second finger;
the third rotating assembly is arranged on the palm part and is movably connected with the second finger;
the controlling the rotation of the second finger according to the y-axis angle and the z-axis angle of the second finger includes:
Determining the rotation amount of the second rotating assembly according to the y-axis angle of the second finger part, and controlling the second rotating assembly to rotate according to the rotation amount of the second rotating assembly;
and determining the rotation amount of the third rotation assembly according to the z-axis angle of the second finger part, and controlling the third rotation assembly to rotate according to the rotation amount of the third rotation assembly.
The control method of the manipulator, wherein the first finger and the second finger are bendable fingers, the movement parameters further comprise a bending angle of the first finger and a bending angle of the second finger, and the movement of the finger is controlled according to the movement parameters of the finger to execute the target task, and the method comprises the following steps:
controlling the bending of the first finger according to the bending angle of the first finger;
and controlling the bending angle of the second finger and controlling the bending of the second finger.
The control method of the manipulator, wherein the first finger comprises:
A first proximal knuckle;
a first intermediate knuckle rotatably connected to the first proximal knuckle;
A first distal knuckle rotatably coupled to the first intermediate knuckle;
the two ends of the first connecting rod are respectively connected with the first proximal knuckle and the first distal knuckle;
A first drive assembly disposed at the first proximal knuckle;
The first driving component is used for driving the first middle knuckle to rotate and driving the first far-end knuckle to rotate;
The controlling the bending of the first finger according to the bending angle of the first finger comprises:
determining a control parameter of the first driving component according to the bending angle of the first finger;
and controlling the first driving assembly to drive the first middle knuckle to rotate according to the control parameter of the first driving assembly.
The control method of the manipulator, wherein the second finger comprises:
A second proximal knuckle;
a second intermediate knuckle rotatably connected to the second proximal knuckle;
A second distal knuckle rotatably coupled to the second intermediate knuckle;
The two ends of the second connecting rod are respectively connected with the second proximal knuckle and the second distal knuckle;
a second drive assembly disposed at the second proximal knuckle;
The second driving assembly is used for driving the second middle knuckle to rotate and driving the second distal knuckle to rotate;
The controlling the bending angle of the second finger, controlling the bending of the second finger, includes:
determining a control parameter of the second driving assembly according to the bending angle of the second finger;
and controlling the second driving assembly to drive the second middle knuckle to rotate according to the control parameter of the second driving assembly.
The control method of the manipulator comprises the steps of enabling the target task to comprise at least one of gestures and actions, and enabling the actions to comprise at least one of grabbing, pinching, clapping, screwing and tearing.
A control system for a manipulator comprising a memory and a processor, the memory storing a computer program, wherein the processor, when executing the computer program, implements the steps of the method as claimed in any one of the preceding claims.
A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the method as claimed in any of the preceding claims.
A control method of a robot hand, wherein the robot hand comprises a palm part and at least two finger parts, the finger parts are arranged on the palm part, a first finger part of the at least two finger parts rotates in a surface where the palm part is arranged and rotates in a first vertical surface of the palm part, a second finger part of the at least two finger parts rotates in a second vertical surface of the palm part and rotates in a third vertical surface of the palm part, and the control method comprises the following steps:
determining a target task of the robot;
determining the activity parameters of each finger part according to the target task, wherein the activity parameters comprise a rotation angle;
and controlling the finger to move according to the movement parameters of the finger so as to execute the target task.
A control method of a robot, wherein the robot comprises a palm part and at least two finger parts, the finger parts are arranged on the palm part, a first finger part of the at least two finger parts rotates in a surface where the palm part is positioned and rotates in a first vertical surface of the palm part, a second finger part of the at least two finger parts rotates in a second vertical surface of the palm part and rotates in a third vertical surface of the palm part, and the control method comprises the following steps:
Determining a target task of the robot;
determining the activity parameters of each finger part according to the target task, wherein the activity parameters comprise a rotation angle;
and controlling the finger to move according to the movement parameters of the finger so as to execute the target task.
The manipulator has the beneficial effects that as the rotation modes of the first finger part and the second finger part are different and are provided with two different rotation modes, the manipulator has higher flexibility. The target task of the manipulator is determined, then the activity parameters of each finger part are determined according to the target task, and then the finger part activity is controlled according to the activity parameters of the finger parts so as to execute or complete the target task. The rotation of the first finger part and the second finger part is accurately controlled through the activity parameters of the finger parts, so that the flexibility of the manipulator is higher and the control accuracy is higher.
Drawings
Fig. 1 is a schematic structural diagram of a manipulator according to an embodiment of the present invention.
Fig. 2 is a side view of a robot in an embodiment of the present invention.
Fig. 3 is an enlarged view at a in fig. 2.
Fig. 4 is a first cross-sectional view of a first finger in an embodiment of the invention.
Fig. 5 is an enlarged view at B in fig. 4.
Fig. 6 is a second cross-sectional view of the first finger in an embodiment of the invention.
Fig. 7 is an enlarged view at C in fig. 6.
Fig. 8 is a schematic structural view of a second finger in an embodiment of the present invention.
Fig. 9 is an enlarged view at D in fig. 8.
Fig. 10 is a cross-sectional view of a second finger in an embodiment of the invention.
Fig. 11 is a flowchart of a control method of the manipulator in the embodiment of the invention.
Reference numerals illustrate:
10. Palm, 20, first finger, 21, first finger, 211, first proximal knuckle, 212, first intermediate knuckle, 213, first distal knuckle, 214, first link, 215, first drive assembly, 2151, fourth drive, 2152, first worm, 2153, first worm gear, 22, first telescoping assembly, 23, second telescoping assembly, 2a, mobile, 2b, kit, 2c, connector, 2d, spring, 2e, first drive, 2f, threaded rod, 30, second finger, 31, second finger, 311, second proximal knuckle, 312, second intermediate knuckle, 313, second distal knuckle, 314, second link, 315, second drive assembly, 3151, fifth drive, 3152, second worm, 3153, second worm gear, 32, second rotating assembly, 321, second rotating frame, 322, second drive, 33, third rotating assembly, 33, third worm gear, 331, third drive link, 332, 333.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1-10, some embodiments of a robot are provided.
As shown in fig. 1, the manipulator of the present invention comprises a palm 10 and at least two fingers, wherein the fingers are arranged on the palm 10, a first finger 20 of the at least two fingers rotates in the plane of the palm 10 and rotates in a first vertical plane of the palm 10, and a second finger 30 of the at least two fingers rotates in a second vertical plane of the palm 10 and rotates in a third vertical plane of the palm 10.
Specifically, the palm portion 10 is palm-shaped, and the finger portions are finger-shaped. There are at least two fingers, one of which is designated as first finger 20 and the other of which is designated as second finger 30. The first finger 20 rotates in the plane of the palm 10 and rotates in the first vertical plane of the palm 10. The second finger 30 rotates in the second vertical plane of the palm 10 and in the third vertical plane of the palm 10.
The vertical plane refers to a plane perpendicular to the plane of the palm portion 10. The third vertical plane and the second vertical plane are two different vertical planes of the palm portion 10. The first vertical surface may be coincident with the second vertical surface as one vertical surface, or the first vertical surface may be non-coincident with the second vertical surface as two different vertical surfaces. The first vertical surface may be coincident with the third vertical surface as one vertical surface, or the first vertical surface may be non-coincident with the third vertical surface as two different vertical surfaces. Because the rotation modes of the first finger part and the second finger part are different, and the first finger part is provided with two different rotation modes, and the second finger part is also provided with two different rotation modes, the flexibility of the manipulator is higher.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 1-2, the rotation angle of the first finger 20 includes an x-axis angle of the first finger 20 and a z-axis angle of the first finger 20, and the rotation angle of the second finger 30 includes a y-axis angle of the second finger 30 and a z-axis angle of the second finger 30.
Specifically, since the positions and orientations of the respective fingers may not be identical, a coordinate system may be established for each finger, for example, with a direction perpendicular to the plane of the palm 10 as the z-axis, with the width direction of the palm 10 (or the finger) as the y-axis, and with a direction perpendicular to the z-axis and the y-axis as the x-axis. The first fingers 20 are arranged along the x-axis direction and the second fingers 30 are arranged along the z-axis direction. The first finger 20 may rotate in the xy plane or in the xz plane, and the rotation angle of the first finger 20 may be expressed as an x-axis angle and a z-axis angle. The second finger 30 may rotate in the yz plane or in the xz plane, and the rotation angle of the second finger 30 may be expressed as a y-axis angle and a z-axis angle. The x-axis angle refers to the angle of the portion relative to the x-axis, the z-axis angle refers to the angle of the portion relative to the z-axis, and the y-axis angle refers to the angle of the portion relative to the y-axis.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 1-2, the first finger 20 includes:
a first finger 21 movably connected to the palm 10;
The first telescopic component 22 is arranged on the palm portion 10 and is movably connected with the first finger 21;
The second telescopic assembly 23 is disposed on the palm portion 10 and is movably connected with the first finger 21.
Specifically, the first telescopic unit 22 and the second telescopic unit 23 are telescopic, and when the telescopic direction of the first telescopic unit 22 is different from the telescopic direction of the second telescopic unit 23, the first finger 21 can rotate in the xy plane. When the first telescopic unit 22 and the second telescopic unit 23 are synchronously telescopic (for example, the telescopic distance and the telescopic direction are the same), the first finger 21 rotates in the xz plane.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 3, 4, 6 and 7, the first telescopic assembly 22 and the second telescopic assembly 23 each comprise:
A movable body 2a that moves relative to the palm portion 10;
A sleeve 2b which is sleeved outside the moving body 2a, wherein the sleeve 2b moves in a direction away from the first finger 21 and is separated from the moving body 2 a;
the two ends of the connecting piece 2c are respectively and movably connected with the first finger 21 and the sleeve piece 2 b;
An elastic member 2d, the elastic member 2d being configured to provide the sleeve 2b with an elastic force that moves in the direction of the first finger 21.
Specifically, the first telescopic assembly 22 and the second telescopic assembly 23 provide the first finger 21 with a false touch preventing function, and specifically, the false touch preventing function is realized by separating and combining the mobile body 2a and the sleeve member 2 b. The moving body 2a moves relative to the first base, the sleeve member 2b can be separated from or combined with the moving body 2a, when the first finger 21 is subjected to external force or is touched by mistake, the sleeve member 2b is pushed to move, the elastic member 2d deforms, when the first finger 21 is not subjected to external force or is not touched by mistake, the elastic member 2d recovers deformation, the sleeve member 2b is driven to be sleeved outside the moving body 2a, and then the moving body 2a and the sleeve member 2b are combined. When the moving body 2a is combined with the sleeve 2b and the moving body 2a moves relative to the palm 10, the sleeve 2b is driven to move, i.e. the first finger 21 is carried to move.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 3, 4 and 6, the first telescopic assembly 22 and the second telescopic assembly 23 each comprise:
a first driver 2e provided in the palm portion 10;
A threaded rod 2f connected to a drive shaft of the first driver 2 e;
Wherein the moving body 2a is in threaded connection with the threaded rod 2f, and the sleeve 2b slides relative to the first base.
Specifically, the first driver 2e is configured to drive the threaded rod 2f to rotate, the threaded rod 2f is screwed with the moving body 2a, and when the threaded rod 2f rotates, the moving body 2a moves relative to the palm 10. Further, a guide rail slider structure may be provided on the palm portion 10, and when the slider is connected to the movable body 2a, the movable body 2a slides with respect to the palm portion 10.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 8, 9 and 10, the second finger 30 includes:
a second finger 31 movably connected to the palm 10;
The second rotating assembly 32 is arranged on the palm portion 10 and is movably connected with the second finger 31;
The third rotating assembly 33 is disposed on the palm portion 10 and is movably connected to the second finger 31.
Specifically, the second rotating component 32 may rotate the second finger 31 substantially in the yz plane, and the third rotating component 33 may rotate the second finger 31 in the xz plane.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 8-10, the second rotating assembly 32 includes:
A second rotating frame 321 rotatably provided to the palm portion 10 and rotatably connected to the second finger 31;
a second driver 322 disposed on the palm portion 10 and configured to drive the second rotating frame 321 to rotate;
The third rotating assembly 33 includes:
a third rotating frame 331 rotatably provided to the palm portion 10;
the two ends of the connecting rod 332 are respectively connected with the second finger 31 and the third rotating frame 331 in a rotating way;
The third driver 333 is disposed on the palm portion 10 and is used for driving the third rotating frame 331 to rotate.
Specifically, the second rotating frame 321 rotates relative to the palm portion 10, the third rotating frame 331 rotates relative to the palm portion 10, and the rotation direction of the second rotating member relative to the palm portion 10 is different from the rotation direction of the third rotating frame 331 relative to the palm portion 10. The second finger 31 rotates with respect to the second turret 321. The connection lever 332 rotates with respect to the second finger 31 and also rotates with respect to the third turret 331. When the second finger 31, the second rotating frame 321, and the connecting rod 332 are rotated, the third rotating frame 331 may be kept from rotating, and the second finger 31 may be rotated substantially along the yz plane. When the second finger 31, the third turret 331 and the connecting rod 332 are rotated, the second turret 321 may be kept from rotating, and the second finger 31 rotates in the xz plane.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 2, 4, 6, 8 and 10, the first finger 21 and the second finger 31 are bendable fingers.
Specifically, the first finger 21 and the second finger 31 may be curled, for example, the first finger 21 and the second finger 31 may be curled in the xz plane.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 2 and fig. 4 to fig. 6, the first finger 21 includes:
A first proximal knuckle 211;
a first intermediate knuckle 212 rotatably connected to said first proximal knuckle 211;
a first distal knuckle 213 rotatably connected to said first intermediate knuckle 212;
A first link 214, two ends of which are respectively connected to the first proximal knuckle 211 and the first distal knuckle 213;
A first drive assembly 215 disposed at the first proximal knuckle 211;
the first driving component 215 is configured to drive the first middle knuckle 212 to rotate and drive the first distal knuckle 213 to rotate.
In particular, the finger may have three sections, a proximal section, a middle section, and a distal section, respectively. The first proximal knuckle 211 is movably connected to the palm 10. Due to the presence of the first link 214, the first proximal knuckle 211, the first middle knuckle 212, and the first distal knuckle 213 may be rolled and stretched together in their entirety. The first driving assembly 215 drives the first middle knuckle 212 to rotate, thereby driving the first finger 21 to curl as a whole.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 4, 5 and 6, the first driving assembly 215 includes:
A fourth driver 2151 disposed at the first proximal knuckle 211;
A first worm 2152 provided on an output shaft of the fourth driver 2151;
A first worm wheel 2153 meshed with the first worm 2152;
wherein the first worm gear 2153 abuts the first intermediate knuckle 212.
Specifically, the fourth driver 2151 is configured to drive the first worm 2152 to rotate and drive the first worm wheel 2153 to rotate, thereby driving the first middle knuckle 212 to rotate. The first worm wheel 2153 has a pushing area formed thereon, except for the worm tooth area, for pushing the first middle knuckle 212, and after the first worm wheel 2153 rotates until the pushing area contacts the first middle knuckle 212, the first middle knuckle 212 can be pushed by the pushing area. A clearance area is also formed on the first worm wheel 2153 to keep away from the first middle knuckle 212. After the first middle knuckle 212 rotates to the avoidance zone, the first middle knuckle 212 and the first worm wheel 2153 do not contact each other, and the rotation of the first middle knuckle 212 does not drive the first worm wheel 2153 to rotate. When the first finger 21 is touched by an external force or by mistake, the first distal knuckle 213 and the first middle knuckle 212 curl, and the first middle knuckle 212 rotates to the avoidance area, the first worm wheel 2153 is not driven to rotate, so that the first finger 21 can be prevented from being damaged. The first distal knuckle 213 is provided with a first resilient element that provides a resilient force that stretches the first intermediate knuckle 212 and the first distal knuckle 213. After the external force or the false touch is eliminated, the first elastic element can extend the first finger 21.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 2, 8 and 10, the second finger 31 includes:
a second proximal knuckle 311;
A second intermediate knuckle 312 rotatably coupled to said second proximal knuckle 311;
A second distal knuckle 313 rotatably connected to the second intermediate knuckle 312;
A second link 314 having two ends connected to the second proximal knuckle 311 and the second distal knuckle 313, respectively;
A second drive assembly 315 disposed at the second proximal knuckle 311;
the second driving component 315 is configured to drive the second middle knuckle 312 to rotate and drive the second distal knuckle 313 to rotate.
Specifically, the second proximal knuckle 311 is movably connected to the palm 10. Due to the presence of the second link 314, the second proximal knuckle 311, the second intermediate knuckle 312, and the second distal knuckle 313 may be rolled and stretched together in their entirety. The second driving assembly 315 drives the second middle knuckle 312 to rotate, thereby driving the second finger 31 to curl as a whole.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 10, the second driving assembly 315 includes:
A fifth driver 3151 disposed at the second proximal knuckle 311;
a second worm 3152 provided on an output shaft of the fifth driver 3151;
A second worm wheel 3153 engaged with the second worm 3152;
wherein the second worm gear 3153 abuts the second intermediate knuckle 312.
Specifically, the fifth driver 3151 is configured to drive the second worm 3152 to rotate, and drive the second worm wheel 3153 to rotate, thereby driving the second middle knuckle 312 to rotate. The second worm wheel 3153 has a pushing area formed thereon except for the worm tooth area for pushing the second middle knuckle 312, and after the second worm wheel 3153 rotates until the pushing area contacts with the second middle knuckle 312, the second middle knuckle 312 can be pushed by the pushing area. A avoidance zone is also formed on the second worm gear 3153 to avoid the second middle knuckle 312. After the second middle knuckle 312 rotates to the avoidance zone, the second middle knuckle 312 and the second worm wheel 3153 do not contact each other, and therefore the second middle knuckle 312 does not rotate to drive the second worm wheel 3153. When the second finger 31 is touched by an external force or by mistake, the second distal knuckle 313 and the second middle knuckle 312 curl, and the second middle knuckle 312 rotates to the avoidance area, the second worm wheel 3153 is not driven to rotate, so that the second finger 31 can be prevented from being damaged. A second resilient element is provided on the second distal knuckle 313, the second resilient element providing a resilient force that stretches the second intermediate knuckle 312 and the second distal knuckle 313. After the external force or the accidental touch is eliminated, the second elastic element can stretch the second finger 31.
Based on the manipulator according to any one of the above embodiments, the present invention further provides a preferred embodiment of a control method for a manipulator:
As shown in fig. 11, the method for controlling a manipulator according to an embodiment of the present invention includes the following steps:
Step S100, determining a target task of the manipulator;
step 200, determining the activity parameters of each finger part according to the target task, wherein the activity parameters comprise a rotation angle;
and step 300, controlling the finger to move according to the movement parameters of the finger so as to execute the target task.
Specifically, a target task of the manipulator is determined, then the activity parameters of each finger part are determined according to the target task, and then the finger part activity is controlled according to the activity parameters of the finger parts so as to execute or complete the target task. The activity parameters of the various fingers may be different, so may the activity of the control fingers. The rotation of the first finger part and the second finger part is accurately controlled through the activity parameters of the finger parts, so that the flexibility of the manipulator is higher and the control accuracy is higher. In addition, since the finger can be rotated in multiple directions, a variety of different target tasks can be performed or completed.
The target task comprises at least one of gestures and actions, and the actions comprise at least one of grabbing, pinching, beating, twisting and tearing. The target task may be to make a gesture or to continuously control to form an action.
The rotation angle of the first finger part comprises an x-axis angle of the first finger part and a z-axis angle of the first finger part, and the rotation angle of the second finger part comprises a y-axis angle of the second finger part and a z-axis angle of the second finger part. In order to execute the target task, the corresponding finger parts need to be rotated to the corresponding positions (or angles), part of the finger parts can be controlled, all the finger parts can be controlled, and the angles of the finger parts can be the same or different. The rotation angle of each finger can be determined according to the target task. The rotation angle of each finger may be converted to a coordinate axis angle, for example, the rotation angle of the first finger may be converted to an x-axis angle and a z-axis angle, and the rotation angle of the second finger may be converted to a y-axis angle and a z-axis angle.
The step S300 specifically includes:
step S310, controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger;
And step 320, controlling the second finger to rotate according to the y-axis angle and the z-axis angle of the second finger.
Specifically, after the rotation angle of the first finger portion is determined, the rotation of the first finger portion may be controlled according to the rotation angle of the first finger portion. Specifically, the rotation of the first finger can be controlled according to the x-axis angle and the z-axis angle of the first finger. After the rotation angle of the second finger part is determined, the second finger part can be controlled to rotate according to the rotation angle of the second finger part. Specifically, the rotation of the second finger can be controlled according to the y-axis angle and the z-axis angle of the second finger.
The step S310 specifically includes:
Step S311, determining the expansion and contraction amount of the first expansion and contraction assembly and the expansion and contraction amount of the second expansion and contraction assembly according to the x-axis angle and the z-axis angle of the first finger part;
Step S312, controlling the first telescopic component to stretch according to the stretching amount of the first telescopic component;
step S313, controlling the second telescopic assembly to stretch according to the stretching amount of the second telescopic assembly.
Specifically, the first telescopic component and the second telescopic component may affect the x-axis angle of the first finger, and the first telescopic component and the second telescopic component may affect the z-axis angle of the first finger, so that the telescopic amount of the first telescopic component needs to be determined according to the x-axis angle and the z-axis angle of the first finger, the telescopic amount of the second telescopic component needs to be determined according to the x-axis angle and the z-axis angle of the first finger, then the first telescopic component is controlled to be telescopic according to the telescopic amount of the first telescopic component, and the second telescopic component is controlled to be telescopic according to the telescopic amount of the second telescopic component, so that the first finger rotates by the x-axis angle on the x-axis and rotates by the z-axis angle on the z-axis.
The step S320 specifically includes:
Step S321, determining the rotation amount of the second rotating assembly according to the y-axis angle of the second finger part, and controlling the second rotating assembly to rotate according to the rotation amount of the second rotating assembly;
And S322, determining the rotation amount of the third rotation assembly according to the z-axis angle of the second finger part, and controlling the third rotation assembly to rotate according to the rotation amount of the third rotation assembly.
Specifically, the y-axis angle of the second finger is primarily determined by the second rotating assembly, and the z-axis angle of the second finger is primarily determined by the third rotating assembly. After the y-axis angle of the second finger is determined, the rotation amount of the second rotation assembly is determined according to the y-axis angle of the second finger, and the second rotation assembly is controlled to rotate. After the z-axis angle of the second finger is determined, the rotation amount of the third rotation assembly is determined according to the z-axis angle of the second finger, and the third rotation assembly is controlled to rotate.
The step S300 specifically includes:
Step S330, controlling the bending of the first finger according to the bending angle of the first finger;
and step 340, controlling the bending angle of the second finger and controlling the bending of the second finger.
Specifically, since both the first finger and the second finger can be bent, the bending of the first finger and the second finger can be controlled. The bending angle of the first finger and the bending angle of the second finger are determined according to the target task, then the bending of the first finger is controlled according to the bending angle of the first finger, and the bending of the second finger is controlled according to the bending angle of the second finger.
The step S330 specifically includes:
step S331, determining control parameters of the first driving component according to the bending angle of the first finger;
And step S332, controlling the first driving assembly to drive the first middle knuckle to rotate according to the control parameter of the first driving assembly.
Specifically, the bending angle of the first finger is controlled by the first drive assembly. After the bending angle of the first finger is determined, determining control parameters of the first driving assembly according to the bending angle of the first finger, and controlling the first driving assembly to drive the first finger to rotate. The control parameter of the first driving assembly may be a rotation angle of the first worm, and the bending angle of the first finger, that is, the rotation angle of the first worm wheel, may be determined according to the rotation angle of the first worm wheel.
The step S340 specifically includes:
step S341, determining control parameters of the second driving assembly according to the bending angle of the second finger;
and step 342, controlling the second driving assembly to drive the second middle knuckle to rotate according to the control parameter of the second driving assembly.
Specifically, the bending angle of the second finger is controlled by the second driving assembly. After the bending angle of the second finger is determined, determining control parameters of the second driving assembly according to the bending angle of the second finger, and controlling the second driving assembly to drive the second finger to rotate. The control parameter of the second driving assembly may be a rotation angle of the second worm, and the bending angle of the second finger, that is, the rotation angle of the second worm wheel, may be determined according to the rotation angle of the second worm wheel.
Based on the control method of the manipulator according to any one of the above embodiments, the present invention further provides an embodiment of a control system of the manipulator:
The computer device of the present invention comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the control method according to any one of the embodiments when executing the computer program.
Based on the control method of the manipulator according to any one of the above embodiments, the present invention further provides an embodiment of a computer readable storage medium:
the computer-readable storage medium of the present invention has stored thereon a computer program which, when executed by a processor, implements the steps of the control method as described in any of the above embodiments.
Based on the manipulator according to any one of the above embodiments, the present invention further provides a preferred embodiment of the manipulator:
The robot hand comprises a palm portion and at least two finger portions, wherein the finger portions are arranged on the palm portion, a first finger portion of the at least two finger portions rotates in the plane where the palm portion is located and rotates in a first vertical plane of the palm portion, and a second finger portion of the at least two finger portions rotates in a second vertical plane of the palm portion and rotates in a third vertical plane of the palm portion.
Based on the robot hand of any one of the embodiments, the invention also provides a control method of the robot hand, and the control method comprises the following steps:
determining a target task of the robot;
determining the activity parameters of each finger part according to the target task, wherein the activity parameters comprise a rotation angle;
and controlling the finger to move according to the movement parameters of the finger so as to execute the target task.
Based on the manipulator according to any one of the above embodiments, the present invention further provides a preferred embodiment of a robot:
The robot comprises a palm portion and at least two finger portions, wherein the finger portions are arranged on the palm portion, a first finger portion of the at least two finger portions rotates in the plane where the palm portion is located and rotates in a first vertical plane of the palm portion, and a second finger portion of the at least two finger portions rotates in a second vertical plane of the palm portion and rotates in a third vertical plane of the palm portion.
Based on the robot of any one of the embodiments, the invention also provides a control method of the robot, and the control method comprises the following steps:
Determining a target task of the robot;
determining the activity parameters of each finger part according to the target task, wherein the activity parameters comprise a rotation angle;
and controlling the finger to move according to the movement parameters of the finger so as to execute the target task.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (8)
1. A control method of a manipulator is characterized in that the manipulator comprises a palm part and at least two finger parts, wherein the finger parts are arranged on the palm part, a first finger part of the at least two finger parts rotates in a surface where the palm part is arranged and rotates in a first vertical surface of the palm part, a second finger part of the at least two finger parts rotates in a second vertical surface of the palm part and rotates in a third vertical surface of the palm part, and the control method comprises the following steps:
determining a target task of the manipulator;
determining the activity parameters of each finger part according to the target task, wherein the activity parameters comprise a rotation angle;
Controlling the finger to move according to the movement parameters of the finger so as to execute the target task;
the rotation angle of the first finger part comprises an x-axis angle of the first finger part and a z-axis angle of the first finger part, the rotation angle of the second finger part comprises a y-axis angle of the second finger part and a z-axis angle of the second finger part, and the movement of the finger part is controlled according to the movement parameters of the finger part so as to execute the target task, and the rotation angle comprises the following steps:
Controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger;
controlling the second finger to rotate according to the y-axis angle and the z-axis angle of the second finger;
The first finger includes:
The first finger is movably connected with the palm part;
the first telescopic component is arranged on the palm part and is movably connected with the first finger;
The second telescopic component is arranged on the palm part and is movably connected with the first finger;
the controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger comprises:
determining the expansion and contraction amount of the first expansion and contraction assembly and the expansion and contraction amount of the second expansion and contraction assembly according to the x-axis angle and the z-axis angle of the first finger part;
Controlling the first telescopic component to stretch according to the stretching amount of the first telescopic component;
controlling the second telescopic assembly to stretch according to the stretching amount of the second telescopic assembly;
The first telescoping assembly and the second telescoping assembly each comprise:
a moving body that moves relative to the palm;
The external member is sleeved outside the moving body, moves towards the direction away from the first finger and is separated from the moving body;
the two ends of the connecting piece are respectively and movably connected with the first finger and the external member;
An elastic member for providing an elastic force for the sleeve to move in a direction of the first finger;
A first driver provided to the palm portion;
a threaded rod connected to a drive shaft of the first driver;
wherein the moving body is in threaded connection with the threaded rod;
The second finger includes:
the second finger is movably connected with the palm part;
The second rotating assembly is arranged on the palm part and is movably connected with the second finger;
the third rotating assembly is arranged on the palm part and is movably connected with the second finger;
the controlling the rotation of the second finger according to the y-axis angle and the z-axis angle of the second finger includes:
Determining the rotation amount of the second rotating assembly according to the y-axis angle of the second finger part, and controlling the second rotating assembly to rotate according to the rotation amount of the second rotating assembly;
and determining the rotation amount of the third rotation assembly according to the z-axis angle of the second finger part, and controlling the third rotation assembly to rotate according to the rotation amount of the third rotation assembly.
2. The method for controlling a manipulator according to claim 1, wherein the first finger and the second finger are bendable fingers, the movement parameters further include a bending angle of the first finger and a bending angle of the second finger, and the controlling the movement of the finger according to the movement parameters of the finger to perform the target task includes:
controlling the bending of the first finger according to the bending angle of the first finger;
and controlling the bending angle of the second finger and controlling the bending of the second finger.
3. The method of controlling a robot arm according to claim 2, wherein the first finger includes:
A first proximal knuckle;
a first intermediate knuckle rotatably connected to the first proximal knuckle;
A first distal knuckle rotatably coupled to the first intermediate knuckle;
the two ends of the first connecting rod are respectively connected with the first proximal knuckle and the first distal knuckle;
A first drive assembly disposed at the first proximal knuckle;
The first driving component is used for driving the first middle knuckle to rotate and driving the first far-end knuckle to rotate;
The controlling the bending of the first finger according to the bending angle of the first finger comprises:
determining a control parameter of the first driving component according to the bending angle of the first finger;
and controlling the first driving assembly to drive the first middle knuckle to rotate according to the control parameter of the first driving assembly.
4. A control method of a robot hand according to claim 3, wherein the second finger includes:
A second proximal knuckle;
a second intermediate knuckle rotatably connected to the second proximal knuckle;
A second distal knuckle rotatably coupled to the second intermediate knuckle;
The two ends of the second connecting rod are respectively connected with the second proximal knuckle and the second distal knuckle;
a second drive assembly disposed at the second proximal knuckle;
The second driving assembly is used for driving the second middle knuckle to rotate and driving the second distal knuckle to rotate;
The controlling the bending angle of the second finger, controlling the bending of the second finger, includes:
determining a control parameter of the second driving assembly according to the bending angle of the second finger;
and controlling the second driving assembly to drive the second middle knuckle to rotate according to the control parameter of the second driving assembly.
5. The method according to any one of claims 1 to 4, wherein the target task includes at least one of a gesture and an action, and the action includes at least one of a grab, pinch, beat, twist, and tear.
6. A control system for a manipulator comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 5.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
8. A control method of a robot is characterized in that the robot comprises a palm part and at least two finger parts, wherein the finger parts are arranged on the palm part, a first finger part of the at least two finger parts rotates in a surface where the palm part is arranged and rotates in a first vertical surface of the palm part, a second finger part of the at least two finger parts rotates in a second vertical surface of the palm part and rotates in a third vertical surface of the palm part, and the control method comprises the following steps:
Determining a target task of the robot;
determining the activity parameters of each finger part according to the target task, wherein the activity parameters comprise a rotation angle;
Controlling the finger to move according to the movement parameters of the finger so as to execute the target task;
the rotation angle of the first finger part comprises an x-axis angle of the first finger part and a z-axis angle of the first finger part, the rotation angle of the second finger part comprises a y-axis angle of the second finger part and a z-axis angle of the second finger part, and the movement of the finger part is controlled according to the movement parameters of the finger part so as to execute the target task, and the rotation angle comprises the following steps:
Controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger;
controlling the second finger to rotate according to the y-axis angle and the z-axis angle of the second finger;
The first finger includes:
The first finger is movably connected with the palm part;
the first telescopic component is arranged on the palm part and is movably connected with the first finger;
The second telescopic component is arranged on the palm part and is movably connected with the first finger;
the controlling the first finger to rotate according to the x-axis angle and the z-axis angle of the first finger comprises:
determining the expansion and contraction amount of the first expansion and contraction assembly and the expansion and contraction amount of the second expansion and contraction assembly according to the x-axis angle and the z-axis angle of the first finger part;
Controlling the first telescopic component to stretch according to the stretching amount of the first telescopic component;
controlling the second telescopic assembly to stretch according to the stretching amount of the second telescopic assembly;
The first telescoping assembly and the second telescoping assembly each comprise:
a moving body that moves relative to the palm;
The external member is sleeved outside the moving body, moves towards the direction away from the first finger and is separated from the moving body;
the two ends of the connecting piece are respectively and movably connected with the first finger and the external member;
An elastic member for providing an elastic force for the sleeve to move in a direction of the first finger;
A first driver provided to the palm portion;
a threaded rod connected to a drive shaft of the first driver;
wherein the moving body is in threaded connection with the threaded rod;
The second finger includes:
the second finger is movably connected with the palm part;
The second rotating assembly is arranged on the palm part and is movably connected with the second finger;
the third rotating assembly is arranged on the palm part and is movably connected with the second finger;
the controlling the rotation of the second finger according to the y-axis angle and the z-axis angle of the second finger includes:
Determining the rotation amount of the second rotating assembly according to the y-axis angle of the second finger part, and controlling the second rotating assembly to rotate according to the rotation amount of the second rotating assembly;
and determining the rotation amount of the third rotation assembly according to the z-axis angle of the second finger part, and controlling the third rotation assembly to rotate according to the rotation amount of the third rotation assembly.
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| CN117733890A (en) * | 2023-11-15 | 2024-03-22 | 中国科学院自动化研究所 | Four-finger robot smart hand |
| CN118386270A (en) * | 2024-04-29 | 2024-07-26 | 江苏大学 | Full-size variable-rigidity humanoid dexterous manipulator |
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| US8052185B2 (en) * | 2009-04-09 | 2011-11-08 | Disney Enterprises, Inc. | Robot hand with humanoid fingers |
| CN214055308U (en) * | 2020-11-17 | 2021-08-27 | 深圳市优必选科技股份有限公司 | dexterous hand |
| CN219705198U (en) * | 2023-01-12 | 2023-09-19 | 苏州艾利特机器人有限公司 | Connecting rod driving modularized humanoid dexterous hand |
| CN118322248B (en) * | 2023-01-12 | 2025-09-09 | 苏州艾利特机器人有限公司 | Three-degree-of-freedom robot joint and manipulator |
| CN117047810A (en) * | 2023-07-25 | 2023-11-14 | 北京精密机电控制设备研究所 | Driving, transferring and controlling highly-integrated multifunctional five-finger humanoid dexterous hand |
| CN117047809A (en) * | 2023-07-25 | 2023-11-14 | 北京精密机电控制设备研究所 | Three-degree-of-freedom flexible finger driven by spatial hybrid spherical hinge multi-rod coupling |
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| CN117733890A (en) * | 2023-11-15 | 2024-03-22 | 中国科学院自动化研究所 | Four-finger robot smart hand |
| CN118386270A (en) * | 2024-04-29 | 2024-07-26 | 江苏大学 | Full-size variable-rigidity humanoid dexterous manipulator |
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