Multi-sensor based dexterous hand antagonistic type control system

Abstract

The invention discloses a multi-sensor and antagonistic drive based dexterous hand control system. The system comprises an antagonistic driven dexterous hand in tendon transmission, a joint angle sensor, a touch sensor in bionic skin, a joint force and torque sensor, a tendon tension sensor, a sensor management module, a driver control module and a central control module. According to the system,perception modes of different levels of force and touch are effectively decoupled, various sense information can be flexibly and comprehensively analyzed under different operating tasks, the control difficulty is simplified, and design complexity and cost of each type of sensor (and the bionic skin with touch) are reduced; and through the central control module of the system, the dexterous hand can avoid excessive relaxation or tensioning of the tendon, joint damping and joint rigidity of each joint can be controlled, the compliance operation and the anti-interference performance and robustness can be taken into account, and the system can still work reliably when the joint force and torque sensor or the tendon tension sensor is partially or completely lacked or works abnormally.

Description

technical field [0001] The invention belongs to the field of robot dexterous hand control, in particular to a dexterous hand control system based on multi-sensor and antagonistic drive. Background technique [0002] The bionic dexterous hand refers to a manipulator with a finger index, degree of freedom, shape and function close to that of a human hand. It can manipulate objects flexibly and delicately. It is suitable as a high-performance prosthesis, or used in industrial scenarios such as flexible assembly. It can also replace people in pollution, poisoning, Operations in hazardous environments such as radiation, as well as application to service robots with strong versatility, are key components of bionic robots or humanoid robots. [0003] One transmission method that is widely used in many dexterous hand systems is tendon transmission. Tendon transmission is to transmit the movement and power of the driver located in the forearm to the narrow hand through the tendon (m...

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Problems solved by technology

[0007] In order to solve the above problems, the present invention proposes a dexterous hand control system based on multi-sensor and antagonistic driving. The tactile sensor in the bionic skin used in this system only needs to be able to sense the contact point without accurately measuring the contact force, joint force and The torque sensor only needs to be able to sense the force or moment acting on the joint, and the tendon tension sensor only needs to be able to perform coarse-grained estimation of tendon tension, thereby reducing the design complexity and cost of various types of sensors (and bionic skin with tactile sensation); the The combination of various sensors adopted by the system and the sensor sampling and analysis strategy of the central control module effectively decouple different levels of force and tactile perception methods, facilitating flexible comprehensive analysis of various sensory information under different operating tasks and Simplify the difficulty of control; the central control module of the system is equipped with control strategies to prevent tendon relaxation, control strategies to prevent tendon overtightening, control strategies based on controllable loads, control strategies based on dynamic models, and control strategies based on neural networks. The strategy can effectively avoid excessive relaxation or tension of the tendon, and can control the joint damping and joint stiffness of each joint of the dexterous hand, so that the dexterous hand can take into account both supple operation and anti-interference robustness; the central control module can also control joint force and Switch to control strategy based on controllable load or control strategy based on dynamic model when some or all of the torque sensor or tendon tension sensor is missing or working abnormally, so that the system can still work reliably

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