Control platform of multifinger mechanical skillful closed ring real time action

Abstract

A closed-loop real-time action control platform for multi-finger manipulator is composed of a multi-finger manipulator, 3D action monitoring system, a system for tracking and analyzing the gesture of operator (LAP system), and virtual force sensation generating system. Said operator uses a pair of stereoscopic glasses or a helmet display to observe the action of multi-finger manipulator and express it by gesture.

Description

technical field [0001] The invention relates to a control system of a manipulator, in particular to a closed-loop real-time control platform for a multi-finger mechanical dexterous hand. Background technique [0002] With the development of science and technology, the scope of application of robots continues to expand. The most basic and common task in robotics is to manipulate objects, and the manipulator is the most commonly used device and the most important tool for this task. At present, the most common manipulator is a simple gripping device. However, due to its simple structure, the clamping device can usually only grasp objects with relatively regular shapes, and complete simple operations such as "pick-and-place". The emergence of multi-finger, multi-joint and multi-degree-of-freedom mechanical dexterous hands has improved the robot's operating capabilities. It can be used to grasp objects with different materials and complex surface shapes, and use various tools ...

AI Technical Summary

Problems solved by technology

However, although these methods have achieved closed-loop feedback, they are not in line with the way people are used to, so they affect the control effect to a certain extent.

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