Modular tactile perception control device and method

Abstract

The invention discloses a modular tactile perception control device and method. The device comprises a tactile information acquisition module, a main controller module, a multi-path motor driving module, a plurality of motors and a plurality of mechanical transmission mechanisms. The tactile information acquisition module is used for acquiring contact force information and realizing the functionsof contact force detection and recognition. The main controller module is used for completing square wave control, current closed-loop control, speed closed-loop control, contact force impedance transformation closed-loop control, information feedback and operation of the information acquisition module, and control signal transmission of the information acquisition module. The multi-path motor driving module is used for receiving a motor control signal sent by the main controller module and directly performing motion control on the motor. According to the method, real-time contact force signals fed back by the tactile information acquisition module and given force signals are used for making deviations. After that, the speed closed-loop feedback control information is formed after impedance conversion. Meanwhile, the speed deviations and the speed closed-loop feedback control information are superposed, and then the speed closed-loop adjustment is carried out. Finally, force control can be accurately completed.

Description

technical field [0001] The invention belongs to the technical field of perception and control, and relates to a modular tactile perception control device and method. Background technique [0002] With the continuous improvement of my country's productivity level and people's living standards, robot technology has been widely used in industrial and service fields. In order to allow robots to complete various complex and delicate tasks, robot control technology based on tactile perception has It is an important content in the field of control and research. Previously, control technology based on tactile perception has been applied in many fields. For example, American researchers installed tactile sensors on the top of catheters in endoscopic surgery, which can detect the stiffness of diseased tissues and apply appropriate force according to the softness of tissues to ensure Safety of surgical operation; German KUKA company has developed and commercialized the tactile robot ar...

AI Technical Summary

Problems solved by technology

However, the above applications are all technical developments in special fields and are not universal

In addition, in previous applications, the control system was not very scalable, therefore, the amount of tactile information received was limited, and the range and ability of perception were limited.

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