Control method for five-finger dexterous hand of intelligent explosive-handling robot

Abstract

The invention discloses a control method for a five-finger dexterous hand of an intelligent explosive-handling robot. The control method comprises the following steps: S1, building a grab mode knowledge base of the five-finger dexterous hand of the intelligent explosive-handling robot; S2, identifying a target object based on a visual system of the five-finger dexterous hand; S3, matching the mode; S4, implementing grabbing, making force planning upon completion of planning of the grab mode, and lifting a grabbed objected while the ends of the fingers are tensioned; and obtaining the optimal grabbing force for grabbing the object when the ends of the fingers are no longer tensioned after the grabbed object can be lifted stably. According to the control method, the humanoid five-finger dexterous hand with multiple degrees of freedom is used as an end actuator of the robot, so that the grabbing of objects of different shapes and poses can be achieved, and the limitation of grabbing the objects by using a single degree of freedom gripper as the end actuator is eliminated; the dexterous hand has independence, and the grabbing action can be finished independently; when unexploded objects are grabbed, compared with a manipulator by which grabbing is finished through manual operation, the five-finger dexterous hand has the advantage that the life safety of staff is ensured.

Description

technical field [0001] The invention belongs to the technical field of automatic grabbing by manipulators, and in particular relates to a five-finger dexterous hand control method for an intelligent explosive-discharge robot. Background technique [0002] With the development of globalization and the deepening of anti-terrorism work, the contradiction with terrorists has further intensified, and there is the threat of lawless elements planting bombs in all countries. Creating explosive terrorist activities by placing bombs is a common method used by terrorists to carry out terrorist activities. Although the EOD work has never stopped, and the EOD technology is also improving day by day, from the past manual EOD to today's robot EOD, there are still a large number of unexploded ordnance in the world, and due to the diversity of unexploded ordnance However, robot EOD still requires manual operation, which undoubtedly increases the difficulty of EOD work and seriously threaten...

AI Technical Summary

Problems solved by technology

The robot assists humans to complete various tedious and even high-risk and difficult tasks through the end effector of its mechanical arm, but the autonomy of the robot is still a major problem in the robotics industry

At present, most of the end effectors of EOD robots are single-degree-of-freedom grippers. Due to the technical limitations of drivers, sensors, and control strategies, the grasping ability is limited.

However, the rare robots with multi-fingered dexterous hands as end effectors need human-computer interaction to grasp unexploded ordnance due to their lack of autonomy.

In actual EOD, due to the unknown quality and fuze status of unexploded ordnance, the shape and posture of the unexploded ordnance are quite random, and there is a possibility of explosion at any time during the moving process. Therefore, completing the EOD task through human interaction will be difficult Great safety hazard for staff

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