A six-dimensional operating handle for manipulator control

Abstract

The invention discloses a six-dimensional operating handle for mechanical arm control, which comprises an embedded photoelectric trackball, a Z-direction motion switch, an IMU attitude sensor and a handle main body. The embedded photoelectric trackball is located at the bottom of the main body of the handle. The direction and speed information of the trackball when rolling can be recorded and output through the built-in optical sensing element, which is used to control the X-axis and Y-axis of the six-degree-of-freedom mechanical arm on the horizontal plane. axis movement. The Z-direction movement switch includes a positive movement switch and a negative movement switch located at the lower part of the handle body, respectively corresponding to control the positive and negative movements of the Z-axis of the mechanical arm. The IMU attitude sensor is installed on the top of the handle body to detect the attitude angle information of the handle body. The invention provides a six-dimensional operating handle for controlling a mechanical arm, which can control six active degrees of freedom of the mechanical arm, and has the characteristics of easy operation, low cost and good controllability.

Description

technical field [0001] The invention belongs to the mechanical field, and relates to a mechanical arm following control technology, in particular to a six-dimensional operating handle used for mechanical arm control. Background technique [0002] With the development of robotic arm technology, the number of degrees of freedom endowed to the robotic arm is increasing rapidly. The purpose is to enhance the flexibility of the robotic arm movement to adapt to more complex scenarios. At present, as the execution end of the action, the number of degrees of freedom of the mechanical arm has increased to six degrees of freedom or more. However, at the control end, traditional control devices, such as traditional mice and joysticks, can only output two-dimensional and three-dimensional control information. , unable to meet the needs of multidimensional control. [0003] Although 3D mice, Force Dimension force feedback devices and other devices that have appeared in recent years can ...

AI Technical Summary

Problems solved by technology

At present, as the execution end of the action, the number of degrees of freedom of the mechanical arm has increased to six degrees of freedom or more. However, at the control end, traditional control devices, such as traditional mice and joysticks, can only output two-dimensional and three-dimensional control information. , unable to meet the needs of multi-dimensional control

[0003] Although 3D mice, Force Dimension force feedback devices and other equipment that have appeared in recent years can output six-dimensional control information, they have problems such as difficult operation and high cost. It is difficult for users to master the control method without training, and the applicable scenarios also rarely

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