CN106426183A - Mechanical arm control system for simulating hand movement - Google Patents
Mechanical arm control system for simulating hand movement Download PDFInfo
- Publication number
- CN106426183A CN106426183A CN201611080372.5A CN201611080372A CN106426183A CN 106426183 A CN106426183 A CN 106426183A CN 201611080372 A CN201611080372 A CN 201611080372A CN 106426183 A CN106426183 A CN 106426183A
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- Prior art keywords
- mechanical
- finger
- arm
- host computer
- field controller
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm control system for simulating hand movement. The mechanical arm control system comprises an upper computer, a hand motion collection module and a mechanical hand module, wherein the hand motion collection module is connected with the upper computer, and the mechanical hand module is connected with the upper computer. The upper computer receives digital signals sent by the hand motion collection module, converts the received digital signals into control signals and sends the control signals to the mechanical hand module. The hand motion collection module collets hand motion of a person, converts the collected hand motion into digital signals and sends the digital signals to the upper computer. The mechanical hand module receives the control signals sent by the upper computer and controls a mechanical hand to act according to the control signals. The mechanical arm control system has the advantages that a mechanical arm is controlled by capturing hand motion of the person, no complex program is needed, adaptability is high, a tree topology structure is adopted, and modular design is convenient to extend.
Description
Technical field
The present invention relates to a kind of dynamic collect system is and in particular to a kind of mechanical arm control system of simulation hand exercise.
Background technology
With the development of network skill, the direction that the networking operation problem of mechanical hand develops after being also.Industrial robot
It is a kind of high-tech automated production equipment that recent decades grow up.Industry mechanical arm be industrial robot a weight
Want branch.Its feature is can to complete various expected job tasks by programming, has people and machine concurrently on construction and performance
The respective advantage of device, especially embodies intelligence and the adaptability of people.Complete in the accuracy of mechanical manual task and various environment to make
The ability of industry, has vast potential for future development in all fields of national economy.Mechanical hand is during mechanization, automated production
A kind of new device growing up.In present-day procedure, mechanical hand is widely applied in automatic assembly line, machinery
The development of people and production become in high-tech sector, the emerging technology of develop rapidly, and it more promotes machine
The development of tool handss is so that mechanical hand can be better achieved the combination with mechanization and automatization.Although mechanical hand might as well
Staff is flexible like that, but it has energy constantly repeated work and work, does not know fatigue, is fearless of danger, the strength ratio of snatch weight
The big feature of people's hand-power, therefore, mechanical hand is paid attention to by many departments, and is applied more and more widely.China
Plastics machinery has become one of machinery manufacturing industry industry with fastest developing speed, and annual requirement increases continuous.China's plastics machinery
The high speed development of industry mainly has following two big factors：One is the renewal of the equipment that the demand to high technology content equipment is brought
And obsolete equipment eliminate；Two is the high speed development of plastic processing industry through the country, in great demand to plastics machinery.
Existing mechanical arm is all to be operated according to default program, and work is inflexible, and practicality is by force it is impossible to undertake
Complex work.
Content of the invention
The technical problem to be solved is to provide a kind of new Mechanical arm control method it is therefore intended that providing a kind of
The mechanical arm control system of simulation hand exercise, solving existing mechanical arm is all to be operated according to default program, work
It is inflexible to make, and practicality is by force it is impossible to undertake the problem of complex work.
The present invention is achieved through the following technical solutions：
A kind of mechanical arm control system of simulation hand exercise, the hand motion being connected with host computer including host computer is adopted
Collection module and the manipulator being connected with host computer；
Host computer：Receive the digital signal that hand motion acquisition module sends, the digital signal receiving is converted into control
It is sent to manipulator after signal processed；
Hand motion acquisition module：The hand exercise of collection people, the hand motion collecting is converted into digital signal and sends out
Give host computer；
Manipulator：Receive the control signal that host computer sends, according to control signal control machinery hand action.
At the bottom that the upper level sensor that described hand motion acquisition module includes being connected with host computer is connected with host computer
Intermediate sensor and the tip sensor being connected with lower bit processor that reason device is connected with lower bit processor；
Upper level sensor：Detect that the three-axis moving state processing of itself is upper motor data is activation to host computer；
Lower bit processor：Receive the end movement that the intermediary movements data of intermediate sensor transmission and tip sensor send
Data, is integrated into lower motor data is activation to host computer；
Intermediate sensor：The detection three-axis moving state processing of itself gives lower bit processor for intermediary movements data is activation；
Tip sensor：The detection three-axis moving state processing of itself gives lower bit processor for end movement data is activation.
Described manipulator includes the field controller being connected with host computer, the mechanical hand being connected on field controller
Arm, the mechanical palms being connected on field controller, the mechanical finger being connected on field controller, it is connected to field controller
On arm feedback transducer, the palm feedback transducer being connected on field controller, the handss being connected on field controller
Refer to feedback transducer；
Field controller：Receive the control signal that host computer sends, the arm feedback sending in conjunction with arm feedback transducer
After signal, arm control signal is sent to mechanical arm, to machinery after the arm feedback signal sending in conjunction with palm feedback transducer
Palm sends palm control signal, sends finger to mechanical finger after the arm feedback signal sending in conjunction with finger feedback transducer
Control signal；
Mechanical arm：The arm control signal receiving field controller transmission carries out action；
Mechanical palms：The palm control signal receiving field controller transmission carries out action；
Mechanical finger：The finger control signal receiving field controller transmission carries out action；
Arm feedback transducer：The action of detection arm, testing result is sent to scene control as arm feedback signal
Device processed；
Palm feedback transducer：The action of detection palm, testing result is sent to scene control as palm feedback signal
Device processed；
Finger feedback transducer：The action of detection finger, testing result is sent to scene control as finger feedback signal
Device processed.
When system works, upper level sensor is arranged on the arm of handss to be measured, and intermediate sensor is arranged on handss to be measured
On palm, tip sensor is arranged on the finger of handss to be measured.Because upper level sensor is arranged on arm, upper level sensor is adopted
Collect the three-axis moving state that the three-axis moving state of itself is arm, the kinestate of the palm of intermediate sensor detection in the same manner,
The kinestate of tip sensor detection finger, intermediate sensor and tip sensor give the data is activation detecting at bottom
Reason device, is sent to upper after the Data Integration that the data that intermediate sensor sends is sent by lower bit processor with tip sensor
Machine, the data that the data that slave computer sends is sent with upper level sensor is carried out sending after Data Matching by host computer by same time
Control signal carries out extraction process to field controller, field controller to control signal, and the transmission of upper level sensor is upper
Position exercise data extracts, and after the arm feedback signal sending in conjunction with arm feedback transducer, is processed into arm control signal
It is sent to mechanical arm；The intermediary movements data of the transmission of intermediate sensor is extracted, sends in conjunction with palm feedback transducer
Palm feedback signal after, be processed into palm control signal and be sent to mechanical palms；End fortune by the transmission of tip sensor
Dynamic data extracts, and after the finger feedback signal sending in conjunction with finger feedback transducer, is processed into finger control signal and sends
To mechanical finger, mechanical arm, mechanical palms, mechanical finger carries out action according to corresponding control signal.
The quantity of described mechanical finger is at least one, the quantity phase at least with mechanical finger for the described lower bit processor quantity
With.Each mechanical finger finger to be measured with is corresponding, and each lower bit processor corresponds to a finger simultaneously, therefore, under
The quantity of bit processor is at least identical with the quantity of mechanical finger.
The described tip sensor quantity being connected on lower bit processor is at least identical with the quantity of lower bit processor.End
Sensor is connected on finger, and each lower bit processor corresponds to a finger, therefore the quantity of tip sensor at least with bottom
The quantity of processor is identical.
The described intermediate sensor quantity being connected on lower bit processor is one.Generally, only meeting on an arm
Connect a palm, therefore only needing to an intermediate sensor in set of system can make system worked well.
The present invention compared with prior art, has such advantages as and beneficial effect：
1st, the present invention a kind of simulation hand exercise mechanical arm control system, using catch human hand motion to mechanical arm
It is controlled, programming that need not be complicated, strong adaptability；
2nd, the mechanical arm control system of a kind of simulation of present invention hand exercise, using tree topology, modularized design
It is easy to extend.
Brief description
Accompanying drawing described herein is used for providing the embodiment of the present invention is further understood, and constitutes of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is present system structural representation.
Specific embodiment
For making the object, technical solutions and advantages of the present invention become more apparent, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and the exemplary embodiment of the present invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment
As shown in figure 1, the present invention a kind of simulation hand exercise mechanical arm control system, for catch arm, palm with
And the motion of a finger realizes control to mechanical arm, the upper level sensor being connected with host computer including host computer and on
The end sensing that the intermediate sensor that the lower bit processor that position machine connects is connected with lower bit processor is connected with lower bit processor
Field controller that device is connected with host computer, the mechanical arm being connected on field controller, it is connected on field controller
Mechanical palms, the mechanical finger being connected on field controller, the arm feedback transducer being connected on field controller, connection
Palm feedback transducer on controller, the finger feedback transducer being connected on field controller at the scene；Described host computer
Using the microcomputer of Intel Xeon E5 processor, data base adopts hard disk, and lower bit processor adopts MC9S12H, field controller
Using S12MagniV, described upper level sensor, intermediate sensor, lower level sensor, arm feedback transducer, palm feedback pass
, all using MPU6050 three axis accelerometer instrument chip, three-axis gyroscope can measure 6 directions simultaneously for sensor and finger feedback transducer
Position, motion track, accelerate.When system works, upper level sensor is arranged on the arm of handss to be measured, and intermediate sensor is installed
On the palm of handss to be measured, tip sensor is arranged on the finger of handss to be measured.Because upper level sensor is arranged on arm, on
Level sensor gathers the three-axis moving state that the three-axis moving state of itself is arm, and intermediate sensor detects palm in the same manner
Kinestate, tip sensor detect that the data detecting is sent out by the kinestate of finger, intermediate sensor and tip sensor
Give lower bit processor, send out after the Data Integration that the data that intermediate sensor sends is sent with tip sensor by lower bit processor
Give host computer, the data that the data that slave computer sends is sent with upper level sensor is carried out data by same time by host computer
Control signal is sent to field controller, field controller carries out extraction process to control signal, by upper level sensor after joining
The upper motor data sending extracts, and after the arm feedback signal sending in conjunction with arm feedback transducer, is processed into arm
Control signal is sent to mechanical arm；The intermediary movements data of the transmission of intermediate sensor is extracted, feeds back in conjunction with palm and pass
After the palm feedback signal that sensor sends, it is processed into palm control signal and is sent to mechanical palms；Transmission by tip sensor
End movement data extract, in conjunction with finger feedback transducer send finger feedback signal after, be processed into finger control
Signal is sent to mechanical finger, mechanical arm, mechanical palms, and mechanical finger carries out action according to corresponding control signal.
The described lower bit processor quantity being connected on host computer is two, and one of lower bit processor corresponds to handss
Refer to, another idle spare, the number at least with lower bit processor for the described tip sensor quantity being connected on lower bit processor
Amount is identical.Tip sensor is connected on finger, and each lower bit processor corresponds to a finger, the therefore quantity of tip sensor
At least identical with the quantity of lower bit processor.The described intermediate sensor quantity being connected on lower bit processor is one.General feelings
Under condition, an arm only can connect a palm, therefore only needing to an intermediate sensor in set of system can make system
Normal work.
Host computer：Receive the upper motor number that the lower motor data of lower bit processor transmission and upper level sensor send
According to dynamic data will be formed after upper motor data and lower motor Data Matching, dynamic data is sent to data base；
Upper level sensor：Detect that the three-axis moving state processing of itself is upper motor data is activation to host computer；
Lower bit processor：Receive the end movement that the intermediary movements data of intermediate sensor transmission and tip sensor send
Data, is integrated into lower motor data is activation to host computer；
Intermediate sensor：The detection three-axis moving state processing of itself gives lower bit processor for intermediary movements data is activation；
Tip sensor：The detection three-axis moving state processing of itself gives lower bit processor for end movement data is activation；
Mechanical arm：The arm control signal receiving field controller transmission carries out action；
Mechanical palms：The palm control signal receiving field controller transmission carries out action；
Mechanical finger：The finger control signal receiving field controller transmission carries out action；
Arm feedback transducer：The action of detection arm, testing result is sent to scene control as arm feedback signal
Device processed；
Palm feedback transducer：The action of detection palm, testing result is sent to scene control as palm feedback signal
Device processed；
Finger feedback transducer：The action of detection finger, testing result is sent to scene control as finger feedback signal
Device processed.
Above-described specific embodiment, has been carried out to the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, be should be understood that the specific embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvement within the spirit and principles in the present invention, done etc., all should comprise
Within protection scope of the present invention.
Claims (7)
1. a kind of mechanical arm control system of simulation hand exercise is it is characterised in that include the handss that host computer is connected with host computer
Portion's action acquisition module and the manipulator being connected with host computer；
Host computer：Receive the digital signal that hand motion acquisition module sends, the digital signal receiving is converted into control letter
It is sent to manipulator after number；
Hand motion acquisition module：The hand exercise of collection people, the hand motion collecting is converted into digital signal and is sent to
Host computer；
Manipulator：Receive the control signal that host computer sends, according to control signal control machinery hand action.
2. a kind of mechanical arm control system of simulation hand exercise according to claim 1 is it is characterised in that described hand
Lower bit processor and the next process that the upper level sensor that action acquisition module includes being connected with host computer is connected with host computer
Intermediate sensor and the tip sensor being connected with lower bit processor that device connects；
Upper level sensor：Detect that the three-axis moving state processing of itself is upper motor data is activation to host computer；
Lower bit processor：Receive the end movement number that the intermediary movements data of intermediate sensor transmission and tip sensor send
According to being integrated into lower motor data is activation to host computer；
Intermediate sensor：The detection three-axis moving state processing of itself gives lower bit processor for intermediary movements data is activation；
Tip sensor：The detection three-axis moving state processing of itself gives lower bit processor for end movement data is activation.
3. a kind of mechanical arm control system of simulation hand exercise according to claim 2 is it is characterised in that described machinery
Fingerprint block is included the field controller being connected with host computer, the mechanical arm being connected on field controller, connects and control at the scene
Mechanical palms on device processed, the mechanical finger being connected on field controller, the arm feedback being connected on field controller pass
Sensor, the palm feedback transducer being connected on field controller, the finger feedback transducer being connected on field controller；
Field controller：Receive the control signal that host computer sends, the arm feedback signal sending in conjunction with arm feedback transducer
Afterwards arm control signal is sent to mechanical arm, to mechanical palms after the arm feedback signal sending in conjunction with palm feedback transducer
Send palm control signal, after the arm feedback signal sending in conjunction with finger feedback transducer, mechanical finger is sent with finger work
Signal；
Mechanical arm：The arm control signal receiving field controller transmission carries out action；
Mechanical palms：The palm control signal receiving field controller transmission carries out action；
Mechanical finger：The finger control signal receiving field controller transmission carries out action；
Arm feedback transducer：The action of detection arm, testing result is sent to field controller as arm feedback signal；
Palm feedback transducer：The action of detection palm, testing result is sent to field controller as palm feedback signal；
Finger feedback transducer：The action of detection finger, testing result is sent to field controller as finger feedback signal.
4. a kind of mechanical arm control system of simulation hand exercise according to claim 3 is it is characterised in that in system work
When making, upper level sensor is arranged on the arm of handss to be measured, and intermediate sensor is arranged on the palm of handss to be measured, tip sensor
It is arranged on the finger of handss to be measured.
5. a kind of mechanical arm control system of simulation hand exercise according to claim 3 is it is characterised in that described machinery
The quantity of finger is at least one, and described lower bit processor quantity is at least identical with the quantity of mechanical finger.
6. a kind of mechanical arm control system of simulation hand exercise according to claim 3 is it is characterised in that described connection
At least identical with the quantity of lower bit processor in the tip sensor quantity on lower bit processor.
7. a kind of mechanical arm control system of simulation hand exercise according to claim 3 is it is characterised in that described connection
Intermediate sensor quantity on lower bit processor is one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611080372.5A CN106426183A (en) | 2016-11-30 | 2016-11-30 | Mechanical arm control system for simulating hand movement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611080372.5A CN106426183A (en) | 2016-11-30 | 2016-11-30 | Mechanical arm control system for simulating hand movement |
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| Publication Number | Publication Date |
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| CN106426183A true CN106426183A (en) | 2017-02-22 |
Family
ID=58222449
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611080372.5A Pending CN106426183A (en) | 2016-11-30 | 2016-11-30 | Mechanical arm control system for simulating hand movement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113969947A (en) * | 2021-10-26 | 2022-01-25 | 扎赉诺尔煤业有限责任公司 | Common control method for multiple types of hydraulic coupler controllers |
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