CN111002295A - Teaching glove and teaching system of two-finger grabbing robot - Google Patents
Teaching glove and teaching system of two-finger grabbing robot Download PDFInfo
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- CN111002295A CN111002295A CN201911396668.1A CN201911396668A CN111002295A CN 111002295 A CN111002295 A CN 111002295A CN 201911396668 A CN201911396668 A CN 201911396668A CN 111002295 A CN111002295 A CN 111002295A
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- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 210000003811 finger Anatomy 0.000 claims abstract description 30
- 230000001133 acceleration Effects 0.000 claims abstract description 10
- 210000003813 thumb Anatomy 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 11
- 210000000707 wrist Anatomy 0.000 claims description 9
- 238000007499 fusion processing Methods 0.000 claims description 3
- 210000004247 hand Anatomy 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention provides a teaching glove and a teaching system of a two-finger grabbing robot, wherein the teaching glove wraps a thumb and an index finger, and pressure sensors are arranged at the finger ends of the palm surface of the hand of the teaching glove; the back of the hand of the teaching glove is provided with a gyroscope and an inertial sensor; when a user wears the teaching glove and grasps a certain object by a thumb and an index finger, the pressure sensor is used for detecting the grasping force when the finger end grasps the certain object in real time, the gyroscope is used for acquiring the motion inclination angle of the teaching glove in real time, and the inertial sensor is used for acquiring the motion acceleration of the teaching glove in real time; the pressure sensor, the gyroscope and the inertial sensor have the function of wirelessly transmitting data. The teaching system comprises teaching gloves, a two-finger grabbing robot and a computer. The invention has the beneficial effects that: the intuition and the sense of touch advantage of full play people to make the robot of teaching accurate, nimble snatch the target object, improve the security and the accuracy of snatching.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a teaching glove and a teaching system of a two-finger grabbing robot.
Background
The traditional robot teaching methods at present have great limitations, and the methods are gradually eliminated. With the development of technology and the increase of people's demand, some teaching methods combining advanced technology are proposed. In both the teaching method based on the computer vision technology and the teaching method based on various sensors, the trajectory of the teaching device is acquired and input to the robot, so that the robot can repeat the operation of the teaching device. However, it is difficult to teach the robot a complicated operation. Although the teaching method based on gesture recognition can teach the grabbing posture of the grabbing manipulator, the teaching method cannot be effectively implemented for teaching the force during grabbing.
Different from robots with tail ends without complex actions, such as paint spraying robots, welding robots and the like, end effectors of the grabbing robots are complex in structure and often need to complete complex actions, complex factors such as grabbing strength and direction need to be considered, and if no special method is provided for teaching the pose and the strength of the complex actions performed on the tail ends of the grabbing robots, the grabbing robots are likely to grab unstable objects or grab objects to deform.
Disclosure of Invention
In order to solve the problems, the invention designs a teaching system of a two-finger grabbing robot and teaching gloves thereof. Acquiring a moving track of a teaching glove through a camera, an inertial sensor and a gyroscope, and teaching the moving process of the robot; and acquiring the grabbing force of the teaching glove when the teaching glove grabs the target object and the inclination angle acquired by the gyroscope according to the pressure sensor, and demonstrating the grabbing process of the robot. After the operator wears the gloves, the two-finger grabbing robot can be taught directly by grabbing objects, so that the teaching robot can give full play to the intuition and the touch advantages of a human, and the taught robot can accurately and flexibly grab target objects.
A teaching glove of a two-finger grabbing robot is characterized in that finger ends of the palm surface of the hand of the teaching glove are provided with pressure sensors; the back of the hand of the teaching glove is provided with a gyroscope and an inertial sensor; when a user wears the teaching glove to grab an object, the pressure sensor is used for detecting the grabbing force of the finger end when grabbing the object in real time, the gyroscope is used for collecting the motion inclination angle of the teaching glove in real time, and the inertial sensor is used for collecting the motion acceleration of the teaching glove in real time.
Further, the teaching glove is a teaching glove which does not completely envelop the human hand, and only wraps the thumb, the index finger, the wrist and the joints of the thumb, the index finger and the wrist.
Further, the gyroscope and the inertial sensor are both mounted at the back of the hand near the wrist.
Further, the pressure sensor, the gyroscope, and the inertial sensor each have a component that functions to wirelessly transmit data.
A teaching system of a two-finger grabbing robot comprises teaching gloves, the two-finger grabbing robot and a computer;
the two-finger grabbing robot comprises a base, a camera, a multi-section mechanical arm and two-finger mechanical arms; the camera is positioned at the top end of the base, the first section of mechanical arm is connected to the base, the plurality of sections of mechanical arms are sequentially and movably connected, and the tail end of the last section of mechanical arm is connected with the two mechanical arms; a power supply device is arranged in the two-finger manipulator; the camera is used for acquiring the motion image of the teaching glove in real time, and the power supply device is used for providing grabbing force for the two-finger manipulator to grab an object;
the computer is provided with control software which processes the received gripping force sent by the teaching gloves in real time, the acceleration of the movement of the teaching gloves, the movement inclination angle of the teaching gloves and real-time acquired images sent by the camera, controls the two fingers of the two-finger grabbing robot to correspondingly move and grab objects, and corrects the movement of the two fingers of the two-finger grabbing robot and the gripping force of the two fingers in real time according to the real-time acquired movement data of the teaching gloves and the acquired gripping force.
Further, the control software analyzes the received image sent by the camera, performs data fusion processing by combining the acceleration of the movement of the teaching glove and the movement inclination angle of the teaching glove, obtains the movement track of the teaching glove, and teaches the moving process of the two-finger grabbing robot.
Further, the process of grabbing the object by the two-finger grabbing robot is taught according to the inclination angle and the grabbing force of the glove when the teaching glove grabs the object.
Further, the power supply device is a motor.
The technical scheme provided by the invention has the beneficial effects that: the intuition and the sense of touch advantage of full play people to make the robot of teaching accurate, nimble snatch the target object, improve the security and the accuracy of snatching.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of a palm surface of a teaching glove of a two-finger grabbing robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a back surface of a teaching glove of a two-finger grabbing robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a two-finger grabbing robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a two-finger grabbing robot grabbing a target object according to an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides a teaching glove and a teaching system of a two-finger grabbing robot. Two fingers mean that the manipulator of the robot has two clamping jaws, similar to two fingers of a human hand.
Referring to fig. 1 to 4, fig. 1 is a schematic diagram of a palm surface of a teaching glove of a two-finger grabbing robot in an embodiment of the present invention, fig. 2 is a schematic diagram of a back surface of a teaching glove of a two-finger grabbing robot in an embodiment of the present invention, fig. 3 is a schematic diagram of a two-finger grabbing robot in an embodiment of the present invention, and fig. 4 is a schematic diagram of a principle of grabbing a target object by the two-finger grabbing robot in an embodiment of the present invention; a two-finger grabbing robot teaching glove is characterized in that finger ends of a palm surface of the teaching glove 1 are provided with pressure sensors 2; the back of the hand of the teaching glove is provided with a gyroscope and an inertial sensor; when a user wears the teaching glove 1 to grab an object, the pressure sensor 2 is used for detecting the grabbing force of a finger end when grabbing the object in real time, the gyroscope 3 is used for acquiring the motion inclination angle of the teaching glove in real time, and the inertial sensor 4 is used for acquiring the motion acceleration of the teaching glove in real time; the pressure sensor 2, the gyroscope 3 and the inertial sensor 4 are all components with functions of wireless data transmission, so that monitored data can be transmitted to a computer in a wireless mode; the teaching glove is a teaching glove which does not completely envelop human hands and only wraps a thumb, an index finger, a wrist and a joint of the thumb, the index finger and the wrist. The motion of the fingers cannot influence the information collected by the gyroscope and the inertial sensor so as to prevent the influence on the sampling precision of the gyroscope and the inertial sensor, and the gyroscope and the inertial sensor can be arranged at the back of the hand close to the wrist.
A teaching system of a two-finger grabbing robot comprises teaching gloves, the two-finger grabbing robot and a computer;
the two-finger grabbing robot comprises a base 11, a camera 12, a multi-section mechanical arm and two-finger mechanical arms 16; the camera 12 is positioned at the top end of the base 11, the first section of mechanical arm is connected to the base 11, the multiple sections of mechanical arms are sequentially and movably connected, the two-finger grabbing robot is a serial mechanical arm, the degree of freedom of the two-finger grabbing robot is 3-8, the base of the two-finger grabbing robot is connected to a fixed platform or a movable platform, and the tail end of the mechanical arm is provided with two-finger mechanical arms; in this embodiment, the degree of freedom of the multi-section mechanical arm of the two-finger grabbing robot is 3, and the multi-section mechanical arm includes a first section mechanical arm 13, a second section mechanical arm 14 and a third section mechanical arm 15; the first mechanical arm 13 is connected to the base 11, the first mechanical arm 13, the second mechanical arm 14 and the third mechanical arm 15 are sequentially and movably connected, and the tail end of the third mechanical arm 15 is connected with the two-finger mechanical arm 16; a power supply device is arranged in the two-finger manipulator 16; the camera 12 is used for acquiring the motion image of the teaching glove in real time, and the power supply device is used for providing grabbing force for the two-finger manipulator to grab an object; the power supply device may be a motor.
The computer is provided with control software which processes the received gripping force sent by the teaching gloves in real time, the acceleration of the movement of the teaching gloves, the movement inclination angle of the teaching gloves and real-time acquired images sent by the camera, controls the two fingers of the two-finger grabbing robot to correspondingly move and grab objects, and updates the movement of the two fingers of the two-finger grabbing robot and the gripping force of the two fingers in real time according to the acquired movement data of the teaching gloves and the acquired gripping force.
The control software analyzes the received image sent by the camera, data fusion processing is carried out by combining the acceleration of the movement of the teaching glove and the movement inclination angle of the teaching glove, the movement track of the teaching glove is obtained, and the moving process of the two-finger grabbing robot is taught.
And teaching the object grabbing process of the two-finger grabbing robot according to the inclination angle and the grabbing force of the glove when the teaching glove grabs the certain object.
The length of the third section of mechanical arm is smaller than that of the first section of mechanical arm.
The invention has the beneficial effects that: the intuition and the sense of touch advantage of full play people to make the robot of teaching accurate, nimble snatch the target object, improve the security and the accuracy of snatching.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides a two fingers grab robot's teaching gloves which characterized in that: pressure sensors are arranged at the finger ends of the palm surfaces of the hands of the teaching gloves; the back of the hand of the teaching glove is provided with a gyroscope and an inertial sensor; when a user wears the teaching glove to grab an object, the pressure sensor is used for detecting the grabbing force of the finger end when grabbing the object in real time, the gyroscope is used for collecting the motion inclination angle of the teaching glove in real time, and the inertial sensor is used for collecting the motion acceleration of the teaching glove in real time.
2. The teaching glove of a two-finger grip robot as claimed in claim 1, wherein: the teaching glove is a teaching glove which does not completely envelop human hands and only wraps a thumb, an index finger, a wrist and a joint of the thumb, the index finger and the wrist.
3. The teaching glove of a two-finger grip robot as claimed in claim 1, wherein: and the gyroscope and the inertial sensor are both arranged at the back of the hand close to the wrist.
4. The teaching glove of a two-finger grip robot as claimed in claim 1, wherein: the pressure sensor, the gyroscope and the inertial sensor are all components with functions of wireless data transmission.
5. The utility model provides a two fingers grasp robot's teaching system which characterized in that: the teaching glove comprises the teaching glove as claimed in claim 1, and further comprises a two-finger grabbing robot and a computer;
the two-finger grabbing robot comprises a base, a camera, a multi-section mechanical arm and two-finger mechanical arms; the camera is positioned at the top end of the base, the first section of mechanical arm is connected to the base, the plurality of sections of mechanical arms are sequentially and movably connected, and the tail end of the last section of mechanical arm is connected with the two mechanical arms; a power supply device is arranged in the two-finger manipulator; the camera is used for acquiring the motion image of the teaching glove in real time, and the power supply device is used for providing grabbing force for the two-finger manipulator to grab an object;
the computer is provided with control software which processes the received gripping force sent by the teaching gloves in real time, the acceleration of the movement of the teaching gloves, the movement inclination angle of the teaching gloves and real-time acquired images sent by the camera, controls the two fingers of the two-finger grabbing robot to correspondingly move and grab objects, and corrects the movement of the two fingers of the two-finger grabbing robot and the gripping force of the two fingers in real time according to the real-time acquired movement data of the teaching gloves and the acquired gripping force.
6. The teaching system of a two-finger grabbing robot according to claim 5, wherein: the control software analyzes the received image sent by the camera, data fusion processing is carried out by combining the acceleration of the movement of the teaching glove and the movement inclination angle of the teaching glove, the movement track of the teaching glove is obtained, and the moving process of the two-finger grabbing robot is taught.
7. The teaching system of a two-finger grabbing robot according to claim 5, wherein: and teaching the object grabbing process of the two-finger grabbing robot according to the inclination angle and the grabbing force of the glove when the teaching glove grabs the certain object.
8. The teaching system of a two-finger grabbing robot according to claim 5, wherein: the power supply device is a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911396668.1A CN111002295A (en) | 2019-12-30 | 2019-12-30 | Teaching glove and teaching system of two-finger grabbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911396668.1A CN111002295A (en) | 2019-12-30 | 2019-12-30 | Teaching glove and teaching system of two-finger grabbing robot |
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| Publication Number | Publication Date |
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| CN111002295A true CN111002295A (en) | 2020-04-14 |
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| CN201911396668.1A Pending CN111002295A (en) | 2019-12-30 | 2019-12-30 | Teaching glove and teaching system of two-finger grabbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894774A (en) * | 2021-10-26 | 2022-01-07 | 季华实验室 | Robot grabbing control method and device, storage medium and robot |
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