CN114474073A - Dexterous hand strength position hybrid control system and control method based on multi-sensor fusion - Google Patents
Dexterous hand strength position hybrid control system and control method based on multi-sensor fusion Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
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- 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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Abstract
The invention discloses a dexterous hand position hybrid control system and a control method based on multi-sensor fusion, wherein the system comprises a planning layer, a coordination control layer and a single-finger control layer; the planning layer comprises a host module, the coordination control layer comprises a coordination control module, and the single-finger control layer comprises a full-drive non-coupling five-finger dexterous hand driven by a tendon rope, a driver module, a sensor module, an AD conversion module and a single-finger control module; due to the adoption of multi-sensor information fusion and the provision of a distributed control system, the state information of the multi-finger dexterous hand and the interaction information of the dexterous hand and the outside world can be effectively acquired by the control system, and the robustness and the expandability of the control system can be greatly enhanced due to the design of the layered control system. In addition, aiming at the problems of position control and force control in the delicate two-finger fine grabbing task, a force and position hybrid control algorithm is adopted, and the grabbing success rate of objects which are easy to damage is improved.
Description
Technical Field
The invention belongs to the field of control of dexterous hands of robots, and relates to a dexterous hand force position hybrid control system and a control method based on multi-sensor fusion.
Background
Currently, a multi-finger dexterous hand generally adopts a modularized design method in order to have higher flexibility and reduce the design difficulty. At present, the structure of a dexterous hand is relatively complex, and in order to achieve a high-precision control effect, a high-cost control scheme is generally adopted, for example, the cost of the control scheme of the FPGA + the DSP is high, which increases the application cost of the dexterous hand. In addition, the sensing system equipped by the existing smart hand control system is simple, which can affect the effective acquisition of external information by the smart hand and lack necessary feedback capability, thereby affecting the control performance of the smart hand, and some smart hands often adopt centralized control schemes, which can lead to poor expandability and robustness of the smart hand. In order to make the dexterous hand accurately complete the grabbing task in daily life, besides the robustness of the control system, the position control and force control in the grabbing process are not negligible, and especially when grabbing some fragile objects, the force control is very important.
Disclosure of Invention
In order to solve the problems that the dexterous hand control system is high in cost, poor in expandability, lack of feedback capacity, unsatisfactory in position control and force control and the like, the invention provides a dexterous hand position hybrid control system based on multi-sensor fusion. The invention mainly solves the problems of the dexterous hand control system quality and the dexterous hand grabbing control method through the following two aspects. That is, on the one hand, a distributed dexterous hand control system is provided, which is divided into three control layers: the control system comprises a planning layer, a coordination control layer and a single-finger control layer, so that the robustness and the expandability of the control system are improved; the second aspect is that a force and position hybrid control method is designed by combining joint angle signals and joint contact force signals, and the grabbing control task of the dexterous hand on objects in daily life is completed by switching position control and force control in different motion spaces.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a dexterous hand strength position hybrid control system based on multi-sensor fusion is characterized by comprising a planning layer, a coordination control layer and a single finger control layer; the planning layer comprises a host module used for man-machine information interaction, task motion planning and control parameter sending; the coordination control layer comprises a coordination control module which is used for communicating with the planning layer and the single-finger control layer and is used for load distribution and motion distribution; the single-finger control layer comprises a fully-driven non-coupling dexterous five-finger hand driven by a tendon rope, a driver module, a sensor module, an AD conversion module and a single-finger control module; the full-drive non-coupling five-finger dexterous hand driven by a tendon rope consists of five independent fingers, each finger realizes a grabbing control task through a drive joint, the driver module is used for driving the joint, the sensor module comprises a joint angle sensor set, a pressure sensor set used for collecting fingertip stress, a touch sensor set used for collecting fingertip touch and a tendon rope tension sensor set, the AD conversion module is used for converting an analog quantity output signal of the sensor into a digital quantity signal, the single-finger control module is communicated with the AD conversion module, the coordination control module and the driver module, acquires and samples and filters data of each sensor installed on the single finger, and according to the acquired information of each sensor and control commands and control parameters sent by the coordination control module, according to the dexterous hand strength position mixing control method, control signals are sent to the driver modules to control the respective drivers to control the joint position and contact force of the dexterous hand.
In the above technical solution, further, each finger of the five independent fingers includes a side swing joint and three bending joints with four degrees of freedom, and the whole hand has 20 joints in total; the joint angle sensor set comprises 20 joint angle sensors which are arranged at each joint of each finger of the dexterous hand and are used for measuring the rotation angle of each joint so as to obtain joint position information; the pressure sensor set is a one-dimensional force sensor embedded in 5 finger knuckle and is used for measuring the contact force of each finger knuckle so as to obtain the contact force information of each finger knuckle; the touch sensor set is a touch sensor attached to the surfaces of 5 finger fingertips and used for obtaining touch information; the tendon rope tension sensors are integrated into 20 tendon rope tension sensors which are arranged on the tendon rope of the dexterous hand and are used for measuring the tension of the tendon rope.
Furthermore, the single-finger control module consists of five single-finger controllers which respectively control five fingers.
Furthermore, the host module communicates with the coordination control module through a serial port to exchange and transmit task motion planning commands and sensor module information, the coordination control module communicates with five single-finger controllers of the single-finger control module through a serial port bus, and sequentially exchanges data with the five single-finger controllers in a serial port address awakening mode, when the coordination control module communicates with one single-finger controller, serial ports of the other single-finger controllers are not awakened, and only when address commands sent to the serial port bus by the coordination control module correspond to addresses of the single-finger controllers, the address commands are awakened, so that motion distribution, load distribution and control parameter sending and sensor module information receiving are performed; and the single-finger controller sends a control command to the driver module in a serial port communication mode.
A dexterous hand strength position hybrid control method based on multi-sensor fusion comprises the following steps:
according to the position and physical attributes of the target object, performing grabbing task planning in the host module, determining a grabbing mode, a space position required to be reached by the tail end of each finger and fingertip output force of each finger, and sending a control instruction;
according to a control instruction sent by a host module, motion distribution and load distribution are carried out in the coordination control layer, the expected joint angle of each joint is obtained through inverse kinematics calculation of each finger, and the expected joint angle and the expected fingertip force are sequentially sent to the single-finger control module;
and according to a control instruction sent by the coordination control layer, the single-finger control module realizes information acquisition on the sensor module and realizes force and position hybrid control on each finger.
In the above solution, further, the single-finger control module receives the expected angle of each joint and the expected force of each finger tip sent by the coordination control module, for each single-finger controller in the single-finger control module, the middle finger end, the near finger end, and the side swing end reach the corresponding expected angle through joint angle PID closed-loop control, and when two fingers grab finely, the control manner for the far finger end is as follows:
1) when a single-finger controller of the single-finger control module receives a far-finger end expected angle and expected pressure, firstly, the deviation amount of actual joint angle information and the expected angle acquired in real time is input into an incremental position PID, and the calculated control amount is sent to the driver module through a serial port, so that a far-finger end joint is bent to cause the change of the actual joint angle;
2) when the collected actual joint angle information is larger than a joint angle threshold, comparing a pressure value of the pressure sensor collected in real time with a fingertip pressure threshold, and when the collected actual joint angle information is smaller than the joint angle threshold, continuing to calculate the incremental PID;
3) when the pressure value of the pressure sensor acquired in real time is smaller than the fingertip pressure threshold value, entering a position compensation PID, wherein the position compensation PID records the control quantity calculated by the incremental position PID at the moment, gradually reduces the control quantity input to the driver module, and continuously bends the joint of the far finger end until the judgment condition of entering a force closed loop is triggered;
when the pressure value of the pressure sensor acquired in real time is larger than the fingertip pressure threshold value, the fingertip part enters the constraint space, the force PID closed-loop control part begins to enter, and the actual joint angle changes through the incremental PID, so that the fingertip pressure changes indirectly until the expected pressure value is reached.
The invention has the beneficial effects that:
the system of the invention adopts multi-sensor information fusion and provides a distributed control system, so that the state information of the multi-finger dexterous hand and the interaction information of the dexterous hand and the outside can be effectively obtained through the control system, and the robustness and the expandability of the control system can be greatly enhanced due to the design of the layered control system. In addition, aiming at the problems of position control and force control in the delicate two-finger fine grabbing task, a force and position hybrid control algorithm is adopted, and the grabbing success rate of objects which are easy to damage is improved.
Drawings
FIG. 1 is a schematic diagram of an overall structure of a dexterous five-finger hand control system according to the present invention;
FIG. 2 is a schematic diagram of a communication architecture of the five-finger smart hand control system of the present invention;
FIG. 3 is a flow chart of a dexterous hand position mixing control method of the present invention;
FIG. 4 is a block diagram of the single joint force position hybrid closed loop control of the distal finger of the dexterous hand in the present invention;
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention discloses a dexterous hand strength position hybrid control system based on multi-sensor fusion, which is divided into a planning layer, a coordination control layer and a single-finger control layer, and as shown in figure 1, the control system mainly comprises: the all-drive non-coupling dexterous five-finger hand driven by the tendon rope comprises a power supply module, a driver module, a sensor module, a multiplexing module, an AD conversion module, a single-finger control module, a coordination control module and a host module.
The fully-driven uncoupled dexterous five-finger hand driven by the tendon rope consists of five independent fingers, each finger comprises a side swing joint and three bending joints with four degrees of freedom, and the whole hand has 20 joints in total and is used for realizing a grabbing control task. The power supply module is used for supplying power for the driver module, the sensor module, the AD conversion module, the single-finger control module and the coordination control module. The driver module includes a set of linear servo motors comprised of linear servo motors that drive the joints. The sensor module comprises a joint angle sensor set consisting of 20 joint angle sensors, a pressure sensor set consisting of one-dimensional force sensors embedded in 5 finger tips, a touch sensor set consisting of touch sensors attached to the 5 finger tips, and a tendon rope tension sensor set consisting of 20 tendon rope tension sensors. The joint angle sensor is arranged at each joint of each finger of the dexterous hand and used for measuring the rotation angle of each joint, and the output signals of the joint angle sensor are processed by the AD conversion module and the single-finger control module to obtain joint position information. The pressure sensor is arranged in each knuckle of each finger of the dexterous hand and used for measuring the contact force of each knuckle, and the output signal of the pressure sensor is processed by the AD conversion module and the single-finger control module to obtain the contact force information of each knuckle. The touch sensor is attached to the surfaces of the fingertips of all the fingers of the dexterous hand and used for sensing the contact condition of all the fingertips and an object, and the output signals of the touch sensor are processed by the multiplexing module, the AD conversion module and the single-finger control module to obtain touch information. The tendon rope tension sensor is arranged on a tendon rope of a dexterous hand and used for measuring the tension of the tendon rope, and output signals of the tendon rope tension sensor are processed by the AD conversion module and the single finger control module to obtain the tendon rope tension information. The multiplexing module is used for checking the signals of 16 sensing points of the touch sensor (the array type touch sensor used in the embodiment has 16 touch points). The AD conversion module is used for converting analog output signals of the joint angle sensor, the pressure sensor, the touch sensor and the tendon rope tension sensor into digital signals.
The single-finger control module is used as a key component of the invention, and mainly has three functions, namely: 1. and the AD conversion module is communicated with the base station, and the data of each sensor arranged on the single finger is acquired and subjected to sampling filtering processing. 2. And the intelligent hand position hybrid control algorithm is realized by communicating with the coordination control module according to the acquired information of various sensors and the control command and control parameter sent by the coordination control module. 3. Communicating with the driver module and sending control signals to the driver module to control each driver to control the joint position and contact force of the dexterous hand.
The coordination control module is used for communicating with the host module and the single-finger control module and is used for load distribution and motion distribution. And the host module is used for communicating with the coordination control module and sending human-computer information interaction, task motion planning and control parameters.
The overall structure of the control system of the present invention is shown in fig. 1. In a specific example of the present invention, the host module is a PC, the coordination control module is composed of an STM32 module, the single-finger control module is composed of five single-finger controllers, each single-finger controller is an STM32 module, and the five single-finger controllers are respectively used for controlling five fingers of the dexterous hand. The sensor module is installed on the dexterous five-finger hand and is a set of a plurality of joint angle sensors, a plurality of pressure sensors, a plurality of touch sensors and a plurality of tendon rope tension sensors. The AD conversion module consists of an ADS1115 module and an ADS1256 module, wherein two ADS1115 modules are arranged on each finger and used for information acquisition of a joint angle sensor and information acquisition of a touch sensor respectively, and two ADS1256 modules are arranged and used for information acquisition of a pressure sensor and a tendon rope tension sensor. And the power supply module is used for coordinating the power supply of the control module, the single-finger control module, the sensor module, the driver module and the AD conversion module.
One specific communication architecture of the control system of the present invention is shown in fig. 2. The host module is communicated with the coordination control module through a serial port 1 to exchange and transmit a task movement planning command and the information of the sensor module. The coordination control module is communicated with five single-finger controllers of the single-finger control module in a serial port bus mode, data exchange is sequentially carried out between the coordination control module and the five single-finger controllers in a serial port address awakening mode, when the coordination control module is communicated with one single-finger controller, serial ports of other single-finger controllers are in an un-awakened state, and only when an address command sent to the serial port bus by the coordination control module corresponds to the address of the single-finger controller, the coordination control module is awakened, so that motion distribution, load distribution, control parameter sending and sensor module information receiving are carried out. The single-finger control module consists of five single-finger controllers and is used for motion control and sensing information acquisition of five fingers respectively. The single-finger controller and the ADS1115 module perform analog-to-digital conversion of output signals of the joint angle sensor and the touch sensor in an IIC communication mode, and the single-finger controller and the ADS1256 module perform analog-to-digital conversion of output signals of the pressure sensor and the tendon rope tension sensor in an SPI communication mode. And the single-finger controller sends a control command to the driver module in a serial port communication mode.
In addition, the invention provides a force and position hybrid control method of the dexterous hand through the joint angle information and the information of the pressure sensor, which can effectively realize the position control and the force control of the dexterous hand and realize the flexible grabbing control. The flow chart of the force position mixing control method of the five-finger dexterous hand is shown in figure 3. The far finger end force position hybrid closed-loop control block diagram is shown in fig. 4. This technical means will be described below with reference to fig. 3 and 4.
The invention discloses a dexterous hand strength position hybrid control method based on multi-sensor fusion, which comprises the following steps:
firstly, according to the position and the physical property of a target object, a grabbing task plan is carried out in the host computer module.
Before a specific grabbing task is implemented, the grabbing task needs to be planned according to the position and physical attributes of a target object, so that a grabbing mode, a space position required to be reached by the tail end of each finger and fingertip output force of each finger are determined.
And secondly, performing motion distribution and load distribution in the coordination control layer according to the control command sent by the host module.
After the coordination control layer receives the grabbing mode information, the expected positions of the tail ends of the fingers and the fingertip output force sent by the host module through a serial port, the coordination control module can calculate through inverse kinematics of the fingers to obtain expected joint angles of joints of the fingers, and the expected joint angles and the expected fingertip force are sent to the single-finger control module in sequence.
And thirdly, according to a control instruction sent by the coordination control layer, the single-finger control module realizes the information acquisition of the sensor module and the force and position hybrid control algorithm.
And the single-finger control module sequentially receives the expected angle of each finger joint and the expected force of each finger tip sent by the coordination control module. And for each single-finger controller of the single-finger control module, the middle finger end, the near finger end and the side swing end reach corresponding expected angles through joint angle PID closed-loop control. For the control of the far finger end, the force position hybrid closed-loop control method of fig. 4 is adopted, which specifically comprises the following steps:
1) when a single-finger controller of the single-finger control module receives a far-finger end expected angle and expected pressure, firstly, the deviation amount of actual joint angle information and the expected angle acquired in real time is input into an incremental position PID, and the calculated control amount is sent to the driver module through a serial port, so that the far-finger end joint is bent, and the actual joint angle is changed.
2) When the collected actual joint angle information is larger than the joint angle threshold (the expected angle minus 5 degrees is adopted in the specific embodiment of the invention), the pressure value of the pressure sensor collected in real time is compared with the fingertip pressure threshold (the expected angle minus 5 degrees is adopted in the specific embodiment of the invention). When the collected actual joint angle information is smaller than the joint angle threshold (the specific implementation case of the invention takes the expected angle minus 5 °), the incremental PID calculation is continued.
3) When the pressure value of the pressure sensor acquired in real time is smaller than the fingertip pressure threshold (the specific implementation case of the invention takes the expected angle minus 5 degrees), the pressure sensor enters a position compensation PID, the position compensation PID records the control quantity calculated by the incremental position PID at the moment, the control quantity input to the driver module is gradually reduced, and the joints of the far finger end are continuously bent until the pressure sensor is triggered to enter the judgment condition of the force closed loop. When the pressure value of the pressure sensor acquired in real time is larger than a fingertip pressure threshold value (the specific implementation case of the invention takes an expected angle minus 5 degrees), the fingertip part enters a constraint space, and the fingertip part starts to enter a force PID closed-loop control part, which causes the actual joint angle change through an incremental PID algorithm so as to indirectly cause the change of the fingertip pressure until the expected pressure value is reached. So far, the dexterous hand finishes the grabbing task.
In addition, the dexterous hand can be restored to the initial state by pressing each restoring button arranged on the single-finger control module.
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 and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A dexterous hand strength position hybrid control system based on multi-sensor fusion is characterized by comprising a planning layer, a coordination control layer and a single finger control layer; the planning layer comprises a host module used for man-machine information interaction, task motion planning and control parameter sending; the coordination control layer comprises a coordination control module which is used for communicating with the planning layer and the single-finger control layer and is used for load distribution and motion distribution; the single-finger control layer comprises a fully-driven non-coupling dexterous five-finger hand driven by a tendon rope, a driver module, a sensor module, an AD conversion module and a single-finger control module; the fully-driven uncoupled five-finger dexterous hand driven by a tendon rope consists of five independent fingers, each finger realizes a grabbing control task through a driving joint, the driver module is used for driving the joint, the sensor module comprises a joint angle sensor set, a pressure sensor set used for collecting fingertip stress, a touch sensor set used for collecting fingertip touch and a tendon rope tension sensor set, the AD conversion module is used for converting an analog quantity output signal of a sensor into a digital quantity signal, the single-finger control module is communicated with the AD conversion module, the coordination control module and the driver module, acquires and carries out sampling filtering processing on each sensor data installed on the single finger, and according to the acquired information of various sensors and control commands and control parameters sent by the coordination control module, according to a force position hybrid control method of the dexterous hand, control signals are sent to the driver module to control each driver to control the joint position and contact force of the dexterous hand.
2. The dexterous hand force-position hybrid control system based on multi-sensor fusion of claim 1, wherein each finger of the five independent fingers comprises a lateral swing joint and three bending joints with four degrees of freedom, and the whole hand has 20 joints in total; the joint angle sensor set comprises 20 joint angle sensors which are arranged at each joint of each finger of the dexterous hand and are used for measuring the rotation angle of each joint so as to obtain joint position information; the pressure sensor set is a one-dimensional force sensor embedded in 5 finger knuckle and is used for measuring the contact force of each finger knuckle so as to obtain the contact force information of each finger knuckle; the touch sensor set is a touch sensor attached to the surfaces of 5 finger fingertips and used for obtaining touch information; the tendon rope tension sensors are integrated into 20 tendon rope tension sensors which are arranged on the tendon rope of the dexterous hand and are used for measuring the tension of the tendon rope.
3. The dexterous hand force level hybrid control system based on multi-sensor fusion of claim 1, wherein said single-finger control module is composed of five single-finger controllers, and the five single-finger controllers respectively control five fingers.
4. The dexterous hand position mixing control system based on multi-sensor fusion of claim 3, it is characterized in that the host module communicates with the coordination control module through a serial port to exchange and transmit a task movement planning command and the information of the sensor module, the coordination control module is communicated with the five single-finger controllers of the single-finger control module in a serial port bus mode, and is sequentially exchanged with the five single-finger controllers in a serial port address awakening mode, the serial ports of the other single-finger controllers are in an un-awakened state, and are awakened only when the address command sent to the serial port bus by the coordination control module corresponds to the address of the single-finger controller, so as to carry out motion distribution, load distribution, control parameter sending and sensor module information receiving; and the single-finger controller sends a control command to the driver module in a serial port communication mode.
5. A dexterous hand strength position hybrid control method based on multi-sensor fusion is characterized by comprising the following steps:
according to the position and physical attributes of the target object, performing grabbing task planning in the host module, determining a grabbing mode, a space position required to be reached by the tail end of each finger and fingertip output force of each finger, and sending a control instruction;
according to a control instruction sent by a host module, motion distribution and load distribution are carried out in the coordination control layer, the expected joint angle of each joint is obtained through inverse kinematics calculation of each finger, and the expected joint angle and the expected fingertip force are sequentially sent to the single-finger control module;
and according to a control instruction sent by the coordination control layer, the single-finger control module realizes information acquisition on the sensor module and realizes force and position hybrid control on each finger.
6. The dexterous hand force position hybrid control method based on multi-sensor fusion of claim 5, wherein the single-finger control module receives the expected angle of each joint and the expected force of each finger tip sent by the coordination control module, and for each single-finger controller in the single-finger control module, the middle finger end, the near finger end and the side swing end reach the corresponding expected angle through joint angle PID closed-loop control, and the control mode for the far finger end is as follows:
1) when a single-finger controller of the single-finger control module receives a far-finger end expected angle and expected pressure, firstly, the deviation amount of actual joint angle information and the expected angle acquired in real time is input into an incremental position PID, and the calculated control amount is sent to the driver module through a serial port, so that a far-finger end joint is bent to cause the change of the actual joint angle;
2) when the collected actual joint angle information is larger than a joint angle threshold, comparing a pressure value of the pressure sensor collected in real time with a fingertip pressure threshold, and when the collected actual joint angle information is smaller than the joint angle threshold, continuing to calculate the incremental PID;
3) when the pressure value of the pressure sensor acquired in real time is smaller than the fingertip pressure threshold value, entering a position compensation PID, wherein the position compensation PID records the control quantity calculated by the incremental position PID at the moment, gradually reduces the control quantity input to the driver module, and continuously bends the joint of the far finger end until the judgment condition of entering a force closed loop is triggered;
when the pressure value of the pressure sensor acquired in real time is larger than the fingertip pressure threshold value, the fingertip part enters the constraint space, the force PID closed-loop control part begins to enter, and the actual joint angle changes through the incremental PID, so that the fingertip pressure changes indirectly until the expected pressure value is reached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210286629.1A CN114474073B (en) | 2022-03-22 | 2022-03-22 | Smart hand force and position hybrid control system and control method based on multi-sensor fusion |
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| CN202210286629.1A CN114474073B (en) | 2022-03-22 | 2022-03-22 | Smart hand force and position hybrid control system and control method based on multi-sensor fusion |
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| CN114474073A true CN114474073A (en) | 2022-05-13 |
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