CN107139177A - A kind of intelligent robot end effector and control system for possessing crawl function - Google Patents
A kind of intelligent robot end effector and control system for possessing crawl function Download PDFInfo
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- CN107139177A CN107139177A CN201710530243.XA CN201710530243A CN107139177A CN 107139177 A CN107139177 A CN 107139177A CN 201710530243 A CN201710530243 A CN 201710530243A CN 107139177 A CN107139177 A CN 107139177A
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention belongs to robot and artificial intelligence field, more particularly to a kind of intelligent robot end effector and control system for possessing crawl function.A kind of intelligent robot end effector and control system for possessing crawl function, possesses multiple movable joints and multiple branched structures, can simulate the grasping movement of human hand or animal's paw.It includes deep learning system, kinetic control system, drive system and communication system.The deep learning system is an object recognition algorithm system for possessing deep learning function, and the anticipation of body form, and then the action of planning robot's end effector multi-fingered grasp are carried out by object recognition algorithm.The kinetic control system includes being based on field programmable gate array（FPGA）Main control module, communication module, memory module and Digital Signal Algorithm processing module.The drive system includes one and is based on micro-control unit（MCU）Articulations digitorum manus driver, the driver use small size special motor, pass through the driving in the multiple joints of motor control by the way of steel wire coupled.The communication system includes the communication system of a daisy chain type, using parallel processing manner, by the data of the multiple parts of end effector, incoming main control module carries out real-time Data Fusion simultaneously, and the different control instructions of main control module are distributed to all parts of end effector respectively.
Description
Technical field
The invention belongs to robot and artificial intelligence field, more particularly to a kind of intelligent robot for possessing crawl function
End effector and control system.
Background technology
With developing rapidly for robot technology, its application field expands day by day.It is used as machine man-environment interaction
Execution unit, raising of the end effector to robot automtion level and level of operation have a very important role.Machine
The end effector of device people, has it on different titles, industrial robot to be referred to as mechanical arm, its crawl side in different fields
Formula is single, lacks flexibility.The end effector of robot of class human hand refers to from 3 has developed into more meet ergonomics 5 fingers, from
By spending also constantly increase, driving and the kind of drive are also of all kinds.The robot end of the class human hand of currently the majority performs
There are not autonomous classification and deep learning function also, be, by data glove feedback control signal, to carry out end effector mostly
Control.There is not the end effector of robot that utonomous working is carried out by autonomous classification also now.
Due to being based on data glove existing end effector of robot, passing through that motor drive link is driven, motor drives more
The modes such as moving gear steel wire Composite Transmission, the transmission of pneumatic actuation tendon are driven and are driven, and these kinds of drive have some disadvantages
End：1st, end effector of robot is unable to autonomous classification, and then is independently captured, but is controlled by external data gloves etc.
System, is passively worked；2nd, due to driving and the limitation of the kind of drive, the free degree configuration of end effector of robot, size,
Outward appearance and kinetic characteristic etc. personalize limited；3rd, structure, sensor, driving and control system integration degree be not high；4th, by
In driving and the limitation of the kind of drive, the grasp force of end effector of robot is limited, can not capture relatively heavy object.
The content of the invention
It is an object of the invention to overcome in the prior art end effector of robot be unable to autonomous classification, flexibility not
Height, the limitation that personalizes, the defect such as volume is big, grasp force is limited, by using the scheme of motor-driven gear belt transmission,
And configurable deep learning system, the present invention is possessed following advantage：
1st, autonomous object identification is carried out by deep learning system, object anticipation is carried out, so as to select fetching, mainlys grasp certainly
Take the various objects for possessing Different Rule shape；
2nd, due to the mode using motor-driven gear belt transmission so that the free degree of end effector of robot is higher, can
17 frees degree are reached, finger up to 5 refers to, and refers to long 95mm, finger beam 20mm.It is special from outward appearance, size, free degree configuration and motion
Property etc. more personalizes；
3rd, end effector of robot of the invention has position, power（Torque）, a variety of perceptional functions such as tactile and temperature, can be more
Good interacts with external environment；
4th, due to the mode using motor-driven gear belt transmission so that the driving force of end effector of robot of the invention
It is bigger, it can easily pick up the weights such as iron block；
5th, driver is built in inside the end effector of robot of the present invention so that the integration degree of this actuator is higher,
And with modular advantage.
To reach above-mentioned purpose, the present invention is achieved through the following technical solutions：
A kind of intelligent robot end effector and control system for possessing crawl function, includes deep learning system, motion control
System processed, drive system and communication system.
Described intelligent robot end effector and control system, it possesses multiple movable joints and multiple branches knot
Structure, can simulate the grasping movement of human hand or animal's paw.
Described intelligent robot end effector and control system, the deep learning system are one and possess deep learning
The object recognition algorithm system of function, the anticipation of body form is carried out by object recognition algorithm, and then plan end effector
The action of crawl.
Described intelligent robot end effector and control system, the kinetic control system include being based on field-programmable
Gate array（FPGA）Main control module, communication module, memory module and Digital Signal Algorithm processing module.
Described intelligent robot end effector and control system, the FPGA main control modules connect comprising an EMIF bus
Mouthful, for being communicated with digital signal processor, FPGA is equal to a sensor hung on digital signal processor
Data storage.
Described intelligent robot end effector and control system, the kinetic control system include a base joint control
Module, the communication system of the module is four-way communication, including carries out two-way communication with articulations digitorum manus control module, and is carried out with palm
Two-way communication.
Described intelligent robot end effector and control system, the drive system include one and are based on micro-control unit
（MCU）Articulations digitorum manus driver, the driver use small size special motor, pass through an electricity by the way of steel wire coupled
Machine controls the driving in multiple joints.
Described intelligent robot end effector and control system, the communication system include the communication of a daisy chain type
System, the communication system uses parallel processing manner, and by the data of multiple fingers, incoming main control module is counted in real time simultaneously
Each finger is distributed to respectively according to fusion treatment, and by the different control instructions of main control module.
Described intelligent robot end effector and control system, including a sensor-based system, the sensor-based system is by touching
Touch the multiple sensors such as sensor, torque sensor, position sensor, temperature sensor, current sensor composition.
In summary, by the present invention in that with the scheme of motor-driven gear belt transmission, and configurable deep learning system,
Enable the invention to carry out autonomous object identification, object anticipation is carried out, so that fetching is selected, so as to independently capture various
Possesses the object of Different Rule shape；Due to the mode using motor-driven gear belt transmission so that the free degree of Dextrous Hand
It is higher, 17 frees degree are can reach, finger up to 5 refers to, and refers to long 95mm, finger beam 20mm.From outward appearance, size, the free degree configuration with
And kinetic characteristic etc. more personalizes；The present invention has position, power（Torque）, a variety of perceptional functions such as tactile and temperature, can be more
Good interacts with external environment；Due to the mode using motor-driven gear belt transmission so that driving force of the invention is bigger,
The weights such as iron block can easily be picked up；Driver is placed in inside end effector so that integration degree of the invention is higher, and
With modular advantage.
The foregoing general introduction for the application, therefore necessarily have the situation of simplified, summary and omissions of detail；This area
Technical staff is it should be appreciated that overview section is only the explanation to the application, and is not to be taken as any restriction to the application.
Other aspects, features and advantages of device and/or method and/or other themes described in this specification will be due to this explanation
The elaboration of book and be apparent from.Overview section be for imported in the way of a kind of simplification it is multiple will be in detailed description below
The concept that part is further described.This overview section is neither key feature or necessary special for determining claimed subject
Levy, nor be used as determining the supplementary means of the scope of claimed subject.
Brief description of the drawings
Combined by following description and appended claims and with accompanying drawing, will more fully be clearly understood that the application
Above and other feature.It should be appreciated that these accompanying drawings are only the descriptions to some embodiments of the application, it is not considered as pair
The restriction of the application scope, by accompanying drawing, teachings herein will be obtained definitely and explained.
Fig. 1 is the electrical system overall construction drawing of intelligent robot end effector.
Fig. 2 is end effector and system control process figure.
Embodiment
In following embodiment part, the accompanying drawing for being combined as a specification part is illustrated.In accompanying drawing
In, identical/similar mark generally represents identical/similar part, unless be otherwise noted in specification.Embodiment,
The restriction being not considered as the embodiment that illustrates to the application described in drawings and claims.Not inclined
In the case of the spirit or scope for the theme stated from the application, the other embodiment of the application can be used, and can be with
Other changes are made to the application.It is easily understood that can in this specification general description, in accompanying drawing diagram say
The various aspects of bright the application carry out various differently composed configurations, replacement, combination, design, and all these changes all show
So in the contemplation, and the part of the application is constituted.
With reference to Fig. 1, a kind of intelligent robot end effector for possessing crawl function includes deep learning system, motion
Control system, drive system, communication system and sensor-based system.In design of electrical system, the present invention from top to bottom with distant behaviour
Make layer, external command layer, high-rise control, communication layers, bottom control to be laid out.Remote operating layer is with deep learning system and graphically
Numerical control software is constituted.Deep learning system is primarily referred to as the object recognition algorithm based on deep learning algorithm, and it is known by object
Other algorithm carries out the anticipation of body form, realizes the planning algorithm of Dextrous Hand multivalue crawl.External command layer is host computer, can be with
For PC, or ARM.The critical piece of high-rise control module is motion control card, mainly by outer memory module, FPGA master control moulds
Block, communication module and Digital Signal Algorithm processing module are constituted.Digital Signal Algorithm processing module is substantially carried out algorithm computing.
FPGA main control modules are mainly used in driving, data receiver, data processing, data storage and the communication of multichannel multiple sensors.
EMIF EBIs are used to be communicated with digital signal processor, and FPGA module is equal into one hangs over Digital Signal Processing
Sensing data memory on device.Communication module includes two parts, one be with palm communication module, one be with it is upper
Machine communication module.Host computer communication module can be used for carrying out high-speed communication with other master control peripheral hardwares, such as PC, ARM.Transmission speed
10M, 100M or 1000M can be adjusted to according to actual transmissions requirement.Host-host protocol can be set to TCP according to communications peripheral requirement
Or the mode such as UDP.Regulation only need to just be can adjust by software instruction above, convenient to carry out.It is palm controller in communication layers,
It is primarily referred to as the data handling system based on FPGA and the communication system of daisy chain type.The communication system of daisy chain type passes through parallel
Processing mode, by the data of five fingers while incoming FPGA, FPGA carry out Data Fusion, in real time by five finger numbers
According to being transmitted to motion control card.Simultaneously, palm control module obtains the control instruction that motion control card is transmitted, and passes through interaction
Communication protocol, five fingers are distributed to by different control instructions.Form the two-way daisy chain communication construction of uniqueness.In bottom
In control system, including base joint control module and articulations digitorum manus control module.Base joint control module is primarily referred to as based on MCU's
Base joint driver, sensing system and communication system.Base joint driver is mainly used in inside control base joint unit
Motor, so as to control the bending and extension in base joint.Sensor other be mainly used in the position sensings of two frees degree in base joint
The collection of device data.Communication system is four-way communication, can both realize the two-way communication with finger joint control module, again can be with hand
The palm carries out two-way communication.Base joint drive module by with harmonic speed reducer horizontal mode side by side, realize in a joint tool
There are two freedoms of motion.Communication system realizes the upload of finger joint and base joint data by using the MCU of many coffrets
With assigning for control instruction.Finger joint control module is primarily referred to as finger joint driver, sensor-based system and communication system based on MCU.
Finger joint driver is mainly used in controlling the motor inside finger unit, and then controls two joints of finger tips.Sensor-based system
Torque sensor, position sensor, temperature sensor and current sensor being mainly used in inside finger-joint etc. drive and
Data acquisition.Communication system is that finger tips joint data are reached into base joint control module by High-Speed RS 422.Finger joint drives
Device module uses the special motor of small size so that finger tips size only has 20mm.Pass through steel wire coupled side in structure
Formula realizes the transmission in two joints of a motor control.By using the MCU with multiple interfaces, realize in small-size environment
The high speed acquisition of the lower sensing data for carrying out multiple sensors, while carrying out high-speed serial data transmission.In overall communication
In mode, finger, palm and motion control card are communicated by two-way daisy chain form.It is special by the parallel processing of main control chip
Data by the finger sensor tidal data recovering of a large amount of high speeds in palm, and by the bigger communication mode of bandwidth, are transmitted to fortune by point
Autocontrol system.Form the collective-type daisy chain of Data Collection.Kinetic control system is each not to the control instruction of each finger
It is identical, according to privately owned interactive communication agreement, control instruction is transmitted to palm main control chip.Palm main control chip passes through parallel processing
Feature, five fingers are issued by instruction simultaneously.The collection and instruction of finger data are issued can perform in same process-time.
Such as thumb, forefinger, middle finger, the third finger carry out data acquisition with the multiple finger controlling modules of little finger of toe within the same clock cycle
And feedback, rather than as single-chip microcomputer etc. is by way of order is performed, first process-time performs thumb, during second process
Between perform forefinger, carry out successively.The communication mode of this daisy chain type is extremely advantageous in the case of this multiple performing modules.
With reference to Fig. 2, when end effector recognizes and captures irregular-shaped objects, the camera of robot itself is to three-dimensional
Object is identified, and obtains object features.Deep learning system is operated, and obtains optimal fetching.Motion control card
By fetching, control instruction is calculated, and issue palm control module.Palm control module sends the data to each hand
Refer to, and then captured.After tested, end effector can successfully pick up most object in irregular shape, and incite somebody to action
Object easily will not also get rid of object during raising and rocking, and successfully tested rate is up to 80 percent.
In summary, by the present invention in that with the scheme of motor-driven gear belt transmission, and configurable deep learning system,
Enable the invention to carry out autonomous object identification, carry out object anticipation, so as to select fetching, independently capture and various possess
The object of Different Rule shape；Due to the mode using motor-driven gear belt transmission so that the free degree of Dextrous Hand is higher,
17 frees degree are can reach, finger up to 5 refers to, and refers to long 95mm, finger beam 20mm.From outward appearance, size, free degree configuration and motion
Characteristic etc. more personalizes；The present invention has position, power（Torque）, a variety of perceptional functions such as tactile and temperature, can preferably with
External environment is interacted；Due to the mode using motor-driven gear belt transmission so that driving force of the invention is bigger, can be easily
Pick up the weights such as iron block；Driver is placed in inside end effector so that integration degree of the invention is higher, and with mould
The advantage of block.
For system perspective, hardware is performed distinguishes little between software execution；Using hardware or software generally (but
And not always, in some cases, selection is carried out between hardware and software can be critically important) it is reflection cost/efficiency tradeoff
Design alternative.By its realize method and/or system described in this specification and/or other technologies instrument (such as hardware,
Software, and/or firmware) there is many, also, it is different according to method and/or system and/or other technologies local environment, it is selected
Instrument can also be different.For example, if implementer judges that speed and accuracy are most important, the implementer can be selected with hard
Based on the instrument of part and/or firmware；If flexibility is most important, based on implementer may select to perform with software；Implement
Some combinations of hardware, software and/or firmware also may be selected in person.
It is foregoing to be described in detail by block diagram, flow chart and/or examples of implementation, illustrate the application device and/
Or the different embodiments of method.When these block diagrams, flow chart and/or embodiment include one or more functions and/or operation
When, it will be readily apparent to those skilled in the art that each function and/or operation in these block diagrams, flow chart and/or embodiment can lead to
Cross various hardware, software, firmware or substantially they any combination and individually and/or jointly implement.In one kind implementation
In mode, several parts of the theme described in this specification can pass through application-specific IC (ASIC), field-programmable
Gate array (FPGA), digital signal processor (DSP) or other integrated forms are realized.However, those skilled in the art can recognize
Know, some aspects of the embodiment described in this specification can whole or in part in integrated circuits with one or
The form of the one or more computer programs run on multiple computers is (for example, with one or more computer systems
Operation one or more computer programs form), one or more programs to run on the one or more processors
Form (for example, in the form of the one or more programs run in one or more microprocessors), in the form of firmware,
Or equally implemented in the form of they substantial any combination, also, the content according to disclosed in this specification, design use
In the application circuit and/or to write for the software of the application and/or the code of firmware be entirely those skilled in the art's
Within limit of power.In addition, it will be understood by those skilled in the art that no matter being used for the signal bearing medium being actually distributed
Type what is, the mechanism of the theme described in this specification can distribute as program product in a variety of manners, also, this
The illustrative embodiments of theme described in specification are applicable.For example, signal bearing medium is including but not limited to following：Can
Recordable type medium, such as floppy disk, hard disk, compact disk (CD), digital video disk digital versatile disc (DVD), digital magnetic tape, calculating
Machine memory etc.；Transmission type media, such as numeral and/or analog communication medium (such as optical cable, waveguide, wired communication link, wireless
Communication link etc.).
It will be understood by those skilled in the art that describing device and/or method in the way of illustrating in this specification, then
Carry out engineering practice with by described device and/or method integration into data handling system, be very common in this area
's., can be by the experiment of fair amount that is, at least a portion in device and/or method described in this specification
It is integrated into data handling system.It will be appreciated by those skilled in the art that typical data handling system generally include it is following in
It is one or more：System unit housing, video display apparatus, the storage of such as volatibility and nonvolatile memory etc
The processor of device, such as microprocessor and digital signal processor etc, such as operating system, driver, graphical user
The computational entity at interface and application program etc, the interactive device of one or more such as touch pads or touch-screen etc, and/or
Control system (the feedback of such as test position and/or speed including backfeed loop and control motor；For mobile and/or
The control motor of regulating member and/or size).Typical data handling system can using it is any it is suitable, business can be passed through
The part (part as generally being had in data calculating/communication and/or network calculations/communication system) that industry method is obtained comes
Realize.
Subject content described in this specification illustrates such different parts sometimes, and these parts are contained in
Or it is connected to different miscellaneous parts.It should be appreciated that what these described structures were merely exemplary, in fact, can also
Same function is realized with many other structures.From concept, for realize same function any configuration part all
Effectively " associated " to obtain required function.Therefore, it is grouped together to realize any of specific function in this specification
Two parts can be considered that mutually " association " is to obtain required function, regardless of whether its structure or may intermediate member how.Similarly,
Any two parts so associated, which also can be considered, mutually " to be operably connected ", that is, " being operatively coupled " is with needed for realizing
Function, any two part that can be so connected, which also can be considered, mutually " can be operatively coupled " to realize required work(
Energy.The specific example that can be operatively coupled includes but is not limited to：It is can physically coupling and/or physically interacting
Part and/or can wirelessly interact and/or wireless interaction part and/or interact in logic and/or logic
On the part that can interact.
For substantially any plural number and/or singular references used in this specification, those skilled in the art can be with
Plural reference is odd number and/or odd number is construed to plural number, is suitable so long as doing from context and/or application
.For the sake of clarity, the combination of various singular/plurals may clearly be stated and come out in this manual.
It will be understood by those skilled in the art that in general, in the application, especially appended claims are (for example, institute
The text of attached claims) in used term be typically " open " term (for example, the word of " comprising " one should be construed to
" including but is not limited to ", " having " one word should be construed to " at least with ", etc.).Those skilled in the art should also be understood that
If being intended that certain number of introduced claim to limit, then this intention can be stated clearly in the claims
Out, if without this statement, be intended in the absence of this.For example, in order to make it easy to understand, claims appended below book
In guided bone phrase " at least one " and " one or more " can be used to be limited to introduce claim.However, will should not use
This guided bone phrase is construed to imply that the claim introduced by term " one " is limited, and will be wanted comprising the right so introduced
Ask any specific rights requirement of restriction to be defined to only include the application of a this restriction, draw even if same claim is included
The term of the property led phrase " one or more " or " at least one " and such as row of " one " is (for example, " one " should generally explain
Into this means " at least one " or " one or more ")；This is equally applicable to quote from claim using " described ", "the"
The situation of restriction.Even if being limited in addition, clearly describing certain number of introduced claim, those skilled in the art
It should be appreciated that this statement should be construed to represent that being at least stated number (for example, only saying " two restrictions ", and does not have
There are other modifiers, typically refer at least two restrictions, that is, two or more items are limited).In addition, using similar to " A, B
Or at least one in C etc. " habitual statement in the case of, its usual meaning to be expressed is exactly those skilled in the art's meeting
Usual it should state as understanding (for example, " having the system of at least one in A, B or C " will include but is not limited to only
System with A, the only system with B, only with C system, the system with A and B, the system with A and C, with B and
C system and/or system with A, B and C, etc.).Those skilled in the art will also be appreciated that, actually any to provide
The disjunction word and/or phrase of two or more options, either in the description, in claims still in the accompanying drawings, all
Be construed as that takes into account include any one in one in the option, the option or all two options institute
Being possible to property.For example, " A or B " should be understood to include " A " or " B " or " A and B " possibility phrase.
The many aspects and embodiment of the application disclosed herein, it will be understood by those skilled in the art that the application
Other side and embodiment.Many aspects and embodiment disclosed herein are only intended to for example, being not
Restriction to the application, the real protection domain and spirit of the application should be defined by following claims.
Claims (9)
1. a kind of intelligent robot end effector and control system for possessing crawl function, includes deep learning system, motion
Control system, drive system and communication system.
2. intelligent robot end effector as claimed in claim 1 and control system, it possess multiple movable joints and
Multiple branched structures, can simulate the grasping movement of human hand or animal's paw.
3. intelligent robot end effector as claimed in claim 1 or 2 and control system, the deep learning system are one
Possess the object recognition algorithm system of deep learning function, the anticipation of body form, Jin Ergui are carried out by object recognition algorithm
Draw the action of end effector crawl.
4. intelligent robot end effector and control system as described in one of claim 1-3, the kinetic control system bag
Include based on field programmable gate array（FPGA）Main control module, communication module, memory module and Digital Signal Algorithm processing mould
Block.
5. intelligent robot end effector as claimed in claim 4 and control system, the FPGA main control modules include one
EMIF EBIs, for being communicated with digital signal processor, are equal to one by FPGA and hang over digital signal processor
On sensing data memory.
6. intelligent robot end effector and control system as described in one of claim 1-5, the kinetic control system bag
A base joint control module is included, the communication system of the module is four-way communication, including two-way with the progress of articulations digitorum manus control module
Communication, and carry out two-way communication with palm.
7. intelligent robot end effector and control system as described in one of claim 1-6, the drive system include one
It is individual to be based on micro-control unit（MCU）Articulations digitorum manus driver, the driver use small size special motor, using steel wire coupled
The mode driving that passes through the multiple joints of motor control.
8. intelligent robot end effector and control system as described in one of claim 1-7, the communication system include one
The communication system of individual daisy chain type, the communication system uses parallel processing manner, by the incoming master control simultaneously of the data of multiple fingers
Module carries out real-time Data Fusion, and the different control instructions of main control module are distributed into each finger respectively.
9. intelligent robot end effector and control system as described in one of claim 1-8, including a sensor-based system,
The sensor-based system is by a variety of sensings such as touch sensor, torque sensor, position sensor, temperature sensor, current sensor
Device is constituted.
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| CN111353003A (en) * | 2020-05-13 | 2020-06-30 | 成都信息工程大学 | System and method for testing rigidity of harmonic speed reducer |
| CN111421547A (en) * | 2020-04-13 | 2020-07-17 | 深圳市强华科技发展有限公司 | Industrial robot control system and control method thereof |
| CN113727815A (en) * | 2019-02-21 | 2021-11-30 | Abb瑞士股份有限公司 | Communication module for robot |
| WO2022001404A1 (en) * | 2020-06-15 | 2022-01-06 | 深圳蓝胖子机器智能有限公司 | Dexterous hand embedded system |
| CN114051443A (en) * | 2019-07-03 | 2022-02-15 | 首选网络株式会社 | Information processing device, robot system, and information processing method |
| CN114474073A (en) * | 2022-03-22 | 2022-05-13 | 浙江工业大学 | Dexterous hand strength position hybrid control system and control method based on multi-sensor fusion |
| CN117177842A (en) * | 2021-02-18 | 2023-12-05 | 圣所认知***公司 | System, apparatus and method for a multi-purpose robot |
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| CN117177842A (en) * | 2021-02-18 | 2023-12-05 | 圣所认知***公司 | System, apparatus and method for a multi-purpose robot |
| CN114474073A (en) * | 2022-03-22 | 2022-05-13 | 浙江工业大学 | Dexterous hand strength position hybrid control system and control method based on multi-sensor fusion |
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