Mechanical arm system

Abstract

The invention provides a mechanical arm system which comprises a center control module, a visual module, a mechanical arm and a tactile array module. The center control module is used for producing aninstruction for operating a target; the visual module is used for receiving the instruction, recognizing the target, acquiring pose information of the target in real time, and outputting the pose information to the center control module so as to determine a track; the mechanical arm is used for moving according to the track until arriving at an operating position; and the tactile array module isused for touch type exploring the target when the mechanical arm touches the target at the operating position, feeding back touch information to the center control module in real time so as to realizerecognition, and feeding back force information during touching in real time at the same time until the center control module controls the mechanical arm to accomplish the operating of the target. According to a redundant mechanical arm tactile-visual integration system provided by the invention, the integration of a multisensory and the mechanical arm can be realized, and the characteristic of dexterous manipulation of the redundant mechanical arm is fully played to face diverse and complicated environments, so that the refine manipulation, the independence and the man-machine cooperation efficiency of the mechanical arm are improved.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a manipulator system. Background technique [0002] The robotic arm system is a complex electromechanical system with programmable functions that can achieve multiple operations. Because it can be repeatedly operated and can be used flexibly in various complex and dangerous environments, it is widely used in industrial production, processing and assembly, military aerospace and other fields. play an irreplaceable role. With the development of sensor technology, the control level and intelligence level of the robotic arm system are constantly improving. [0003] Sensors are the main means to improve the intelligence level of the robotic arm system. At present, visual sensors are widely used in the fields of perception and recognition because of their advantages of being able to obtain information about the operating environment. However, it is worth noting that in many environments,...

AI Technical Summary

Problems solved by technology

However, the joint torque sensor and the six-dimensional force sensor can only obtain the contact force between the manipulator and the object indirectly, which is greatly affected by the actual movement; while the single pressure sensor installed on the gripper can only reflect the contact of one point For irregular objects, there is a characteristic of insufficient information

Moreover, most of the existing force sensors are single force feedback, lacking the measurement of the temperature and hardness of the contact target, and this information can greatly improve the scope of application of the robotic arm system

[0005] To sum up, the robotic arm system relying on traditional vision and force sensors has become increasingly incapable of its application in various fields, and it is difficult to adapt to complex scenes and autonomous intelligent operation requirements

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