CN114474073B - Smart hand force and position hybrid control system and control method based on multi-sensor fusion - Google Patents
Smart hand force and position hybrid control system and control method based on multi-sensor fusion Download PDFInfo
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- CN114474073B CN114474073B CN202210286629.1A CN202210286629A CN114474073B CN 114474073 B CN114474073 B CN 114474073B CN 202210286629 A CN202210286629 A CN 202210286629A CN 114474073 B CN114474073 B CN 114474073B
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- 230000033001 locomotion Effects 0.000 claims description 17
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- 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
- 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
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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
- B25J9/1633—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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/1694—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 smart hand force and 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 uncoupled 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; the invention can effectively acquire the state information of the multi-finger smart hand and the interaction information of the smart hand and the outside through the control system by adopting multi-sensor information fusion and providing a distributed 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 fine grabbing task of two fingers of the dexterous hand, a force-position hybrid control algorithm is adopted, so that 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 robot dexterous hands, and relates to a dexterous hand force and position hybrid control system and a control method based on multi-sensor fusion.
Background
Currently, in order to provide a multi-finger smart hand with higher flexibility and reduce the design difficulty, a modularized design method is generally adopted. At present, the structure of the dexterous hand is complex, and in order to achieve a high-precision control effect, a high-cost control scheme is generally adopted, for example, the control scheme of an FPGA+DSP is high in cost, so that the application cost of the dexterous hand is increased. In addition, the sensing system equipped with the existing smart hand control system is simpler, which can influence the effective acquisition of external information by the smart hand, and lacks necessary feedback capability, so that the control performance of the smart hand is influenced, and some smart hands often adopt a centralized control scheme, which can lead to poor expandability and robustness of the smart hand. In order to enable the smart hand to accurately complete the grabbing task in daily life, besides the robustness of the control system, the position control and the force control in the grabbing process are not negligible, and particularly, the force control is important when some fragile objects are grabbed.
Disclosure of Invention
In order to solve the problems of high cost, poor expandability, lack of feedback capability, non-ideal position control and force control and the like of the smart hand control system, the invention provides a smart hand force and position hybrid control system based on multi-sensor fusion. The invention mainly solves the problems of the quality of a smart hand control system and a smart hand grabbing control method through the following two aspects. Namely, on one hand, a distributed smart hand control system is provided, which is divided into three control layers: the system comprises a planning layer, a coordination control layer and a single-finger control layer, so that the robustness and the expandability of a control system are improved; the second aspect is to design a force-position hybrid control method by combining joint angle signals and joint contact force signals, and complete the task of gripping and controlling objects in daily life by a dexterous hand by switching position control and force control in different movement spaces.
The technical scheme adopted for solving the technical problems is as follows:
the smart hand force and 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 and a control module, wherein the host module is used for man-machine information interaction, task motion planning and control parameter transmission; 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 full-drive uncoupled five-finger dexterous hand driven by tendon ropes, a driver module, a sensor module, an AD conversion module and a single-finger control module; the full-driving uncoupled five-finger dexterous hand driven by tendon ropes consists of five independent fingers, each finger achieves 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 analog output signals of the sensors into digital signals, the single-finger control module is communicated with the AD conversion module, the coordination control module and the driver module, samples and filters all sensor data installed on the single finger, and sends control signals to the driver module to control all drivers according to the acquired various sensor information and control commands and control parameters sent by the coordination control module, and further controls the joint position and the contact force of the dexterous hand according to the dexterous hand force position mixed control method.
In the above technical scheme, further, each finger of the five independent fingers comprises a lateral swing joint and three bending joints, wherein the total number of the four degrees of freedom is four, and the total number of the joints of the whole hand is 20; the joint angle sensors are assembled into 20 joint angle sensors which are arranged at joints of fingers 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 finger joints of 5 fingers and is used for measuring the contact force of each finger joint so as to obtain the contact force information of each finger joint; the touch sensor set is a touch sensor attached to the surfaces of finger tips of 5 fingers and used for obtaining touch information; the tendon rope tension sensor is assembled into 20 tendon rope tension sensors which are arranged on the tendon rope of the dexterous hand and used for measuring the tendon rope tension.
Further, the single-finger control module is composed of five single-finger controllers, and the five single-finger controllers 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 through a serial port address awakening mode, when the coordination control module communicates with one single-finger controller, the serial ports of the other single-finger controllers are in an unaggling 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 allocation, load allocation, transmission of control parameters and reception of sensor module information are performed; and the single-finger controller sends a control command to the driver module in a serial port communication mode.
A smart hand force and position hybrid control method based on multi-sensor fusion comprises the following steps:
according to the position and physical properties of the target object, carrying out grabbing task planning in the host module, determining grabbing modes, space positions required to be reached by the tail ends of all fingers and fingertip output force of all fingers, and sending out control instructions;
according to the control instruction sent by the 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 the control instruction sent by the coordination control layer, the information acquisition of the sensor module and the force and position mixed control of each finger are realized in the single-finger control module.
In the above scheme, further, the single-finger control module receives the expected angles of the joints and the expected forces of the fingertips 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 lateral swinging end reach the corresponding expected angles through the joint angle PID closed-loop control, and when the two fingers are finely grabbed, 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 desired angle and a desired pressure of a far-finger end, firstly inputting deviation between actual joint angle information acquired in real time and the desired angle into an incremental position PID, and transmitting the calculated control quantity to the driver module through a serial port to enable the far-finger end joint to bend so as to cause the change of the actual joint angle;
2) Comparing the pressure value of the pressure sensor acquired in real time with a fingertip pressure threshold when the acquired actual joint angle information is larger than the joint angle threshold, and continuing to calculate the incremental PID when the acquired actual joint angle information is smaller than the joint angle threshold;
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, namely recording the control quantity calculated by the incremental position PID at the moment, gradually reducing the control quantity input to the driver module, and continuing bending the distal knuckle until triggering the judgment condition of entering a force closed loop;
when the pressure value of the pressure sensor acquired in real time is larger than the fingertip pressure threshold value, the fingertip part is indicated to enter the constraint space, and starts to enter the force PID closed-loop control part, and the actual joint angle change is caused by the incremental PID, so that the fingertip pressure is indirectly changed until the expected pressure value is reached.
The beneficial effects of the invention are as follows:
the system adopts multi-sensor information fusion and provides a distributed control system, so that the system can effectively acquire the state information of the multi-finger smart hand and the interaction information of the smart hand and the outside 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 fine grabbing task of two fingers of the dexterous hand, a force-position hybrid control algorithm is adopted, so that the grabbing success rate of objects which are easy to damage is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a five finger smart hand control system of 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 smart hand force and position hybrid control method in the present invention;
FIG. 4 is a block diagram of a single joint force-position hybrid closed-loop control of a distal finger of a dexterous hand in the present invention;
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clearly apparent, the 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 for purposes of illustration only and are not intended to limit the scope of the invention.
The invention relates to a smart hand force and 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, as shown in fig. 1, and mainly comprises the following steps: the full-driving coupling-free five-finger dexterous hand driven by tendon ropes, a power 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 full-driving uncoupled five-finger dexterous hand driven by the tendon rope consists of five independent fingers, each finger comprises a side swing joint and three bending joints, four degrees of freedom are achieved, and the total number of joints of the whole hand is 20, so that a grabbing control task is achieved. The power module is used for supplying power to 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 servomotors that drive the linear servomotors of the joints. The sensor module comprises a joint angle sensor set formed by 20 joint angle sensors, a pressure sensor set formed by one-dimensional force sensors embedded in finger tips of 5 fingers, a touch sensor set formed by touch sensors attached to the finger tips of 5 fingers and a tendon rope tension sensor set formed by 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 signal of the joint angle sensor is 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 finger tips of all fingers of the smart hand and used for sensing the contact condition of all finger tips and objects, and 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 the tendon rope of the dexterous hand and used for measuring the tension of the tendon rope, and an output signal of the tendon rope tension sensor is processed by the AD conversion module and the single-finger control module to obtain tendon rope tension information. The multiplexing module is used for checking 16 sensing point signals of the touch sensor (the array type touch sensor used in the example 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 has three main functions in the invention, namely: 1. and the sampling filter processing is communicated with the AD conversion module, and each sensor data installed on the single finger is acquired and subjected to sampling filter processing. 2. And the smart hand force and position hybrid control algorithm is realized according to the acquired various sensor information, the control command and the control parameter sent by the coordination control module. 3. And the control signals are sent to the driver module to control each driver so as to control the joint position and the contact force of the smart 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. The host module is used for communicating with the coordination control module and is used for man-machine information interaction, task motion planning and control parameter transmission.
The overall structure of the control system of the present invention is shown in fig. 1. In one embodiment 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 of the single-finger controllers 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 arranged on the five-finger smart hand and is a collection 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 each finger is provided with two ADS1115 modules for acquiring information of a joint angle sensor and information of a touch sensor respectively, and two ADS1256 modules for acquiring information of a pressure sensor and a tendon rope tension sensor. 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. And the host module is communicated with the coordination control module through the serial port 1 to exchange and transmit task motion planning commands and sensor module information. The coordination control module is communicated with the 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 through a serial port address awakening mode, when the coordination control module is communicated with one single-finger controller, the serial ports of the other single-finger controllers are in an uncorrupted 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, transmission of control parameters and reception of sensor module information are performed. The single-finger control module consists of five single-finger controllers which are respectively used for controlling the movement of five fingers and collecting sensing information. The single-finger controller and the ADS1115 module perform analog-to-digital conversion of the output signals of the joint angle sensor and the output signals of the tactile sensor in an IIC communication mode, and the single-finger controller and the ADS1256 module perform analog-to-digital conversion of the 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-position hybrid control method of the dexterous hand through joint angle information and pressure sensor information, which can effectively realize position control and force control of the dexterous hand and realize flexible grabbing control. The flow chart of the force-position hybrid control method of the five-finger dexterous hand is shown in figure 3. The diagram of the far-end force-bit hybrid closed-loop control is shown in fig. 4. This technical means will be explained below with reference to fig. 3 and 4.
The invention discloses a smart hand force and position hybrid control method based on multi-sensor fusion, which comprises the following steps:
and firstly, performing grabbing task planning in the host module according to the position of the target object and the physical attribute of the target object.
Before a specific grabbing task is implemented, the grabbing task needs to be planned according to the position and physical properties of the target object, so that the grabbing mode, the space positions required to be reached by the tail ends of all the fingers and the fingertip output force of all the fingers are determined.
And secondly, performing motion distribution and load distribution in the coordination control layer according to the control instruction 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 computer module through the serial port, the coordination control module obtains expected joint angles of all finger joints through inverse kinematics calculation of all fingers, and sends the joint expected angles and the fingertip expected force to the single-finger control module in sequence.
And thirdly, realizing information acquisition and force-bit hybrid control algorithm realization of the sensor module in the single-finger control module according to the control instruction sent by the coordination control layer.
The single-finger control module sequentially receives the expected angles of all finger joints and expected forces of all finger fingertips sent by the coordination control module. For each single-finger controller of the single-finger control module, the middle finger end, the near finger end and the lateral swinging end reach corresponding expected angles through joint angle PID closed-loop control. The force-bit hybrid closed-loop control method of fig. 4 is adopted for the control of the far finger end, and specifically comprises the following steps:
1) When the single-finger controller of the single-finger control module receives the expected angle and the expected pressure of the far-finger end, the deviation amount of the actual joint angle information and the expected angle acquired in real time is firstly input into the incremental position PID, and the calculated control amount is sent to the driver module through the serial port, so that the far-finger end joint is bent, and the actual joint angle is changed.
2) When the acquired actual joint angle information is larger than the joint angle threshold value (the expected angle is subtracted by 5 degrees in the specific embodiment of the invention), the pressure value of the pressure sensor acquired in real time is compared with the fingertip pressure threshold value (the expected angle is subtracted by 5 degrees in the specific embodiment of the invention). When the acquired actual joint angle information is smaller than the joint angle threshold value (the expected angle is subtracted by 5 degrees in the specific embodiment of the invention), the calculation of the incremental PID is continued.
3) When the pressure value of the pressure sensor acquired in real time is smaller than the fingertip pressure threshold (the expected angle is subtracted by 5 DEG in the specific embodiment of the invention), the position compensation PID is entered, namely the control quantity calculated by the incremental position PID at the moment is recorded, the control quantity input to the driver module is gradually smaller, and the distal knuckle is continuously bent until the judgment condition of entering the 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 expected angle is subtracted by 5 DEG in the specific embodiment of the invention), the fingertip part is indicated to enter the constraint space, and the force PID closed-loop control part starts to enter, and the actual joint angle change is caused by an incremental PID algorithm, so that the fingertip pressure is indirectly changed until the expected pressure value is reached. Thus, the dexterous hand finishes the grabbing task.
In addition, the smart hand can be returned to the initial state by pressing each return button of the single-finger control module.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (4)
1. The smart hand force and 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 and a control module, wherein the host module is used for man-machine information interaction, task motion planning and control parameter transmission; 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 full-drive uncoupled five-finger dexterous hand driven by tendon ropes, a driver module, a sensor module, an AD conversion module and a single-finger control module; the full-drive uncoupled five-finger dexterous hand driven by tendon ropes consists of five independent fingers, each finger achieves 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 output signal of the sensor into a digital signal, the single-finger control module is communicated with the AD conversion module, the coordination control module and the driver module, samples and filters all sensor data installed on the single finger, and sends control signals to the driver module to control all drivers according to the acquired various sensor information and control commands and control parameters sent by the coordination control module, and further controls the joint position and the contact force of the dexterous hand according to the dexterous hand force position mixed control method;
the force bit mixing control method comprises the following steps:
according to the position and physical properties of the target object, carrying out grabbing task planning in the host module, determining grabbing modes, space positions required to be reached by the tail ends of all fingers and fingertip output force of all fingers, and sending out control instructions;
according to the control instruction sent by the 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;
according to the control instruction sent by the coordination control layer, information acquisition of the sensor module and force and position mixed control of each finger are realized in the single-finger control module;
the single-finger control module receives expected angles of all joints and expected forces of finger fingertips 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 swinging end reach corresponding expected angles 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 desired angle and a desired pressure of a far-finger end, firstly inputting deviation between actual joint angle information acquired in real time and the desired angle into an incremental position PID, and transmitting the calculated control quantity to the driver module through a serial port to enable the far-finger end joint to bend so as to cause the change of the actual joint angle;
2) Comparing the pressure value of the pressure sensor acquired in real time with a fingertip pressure threshold when the acquired actual joint angle information is larger than the joint angle threshold, and continuing to calculate the incremental position PID when the acquired actual joint angle information is smaller than the joint angle threshold;
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, namely recording the control quantity calculated by the incremental position PID at the moment, gradually reducing the control quantity input to the driver module, and continuing bending the distal knuckle until triggering the judgment condition of entering a force closed loop;
when the pressure value of the pressure sensor acquired in real time is larger than the fingertip pressure threshold value, the fingertip part is indicated to enter the constraint space, and starts to enter the force PID closed-loop control part, and the actual joint angle change is caused by the incremental position PID, so that the fingertip pressure is indirectly changed until the expected pressure value is reached.
2. The smart hand force position hybrid control system based on multi-sensor fusion according to claim 1, wherein each of the five independent fingers comprises a lateral swing joint and three bending joints with four degrees of freedom, and the total number of the joints of the whole hand is 20; the joint angle sensors are assembled into 20 joint angle sensors which are arranged at joints of fingers 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 finger joints of 5 fingers and is used for measuring the contact force of each finger joint so as to obtain the contact force information of each finger joint; the touch sensor set is a touch sensor attached to the surfaces of finger tips of 5 fingers and used for obtaining touch information; the tendon rope tension sensor is assembled into 20 tendon rope tension sensors which are arranged on the tendon rope of the dexterous hand and used for measuring the tendon rope tension.
3. The smart hand force and position hybrid control system based on multi-sensor fusion according to claim 1, wherein the single-finger control module is composed of five single-finger controllers, and the five single-finger controllers respectively control five fingers.
4. The smart hand force-bit hybrid control system based on multi-sensor fusion according to claim 3, wherein 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 manner, when the coordination control module communicates with one of the single-finger controllers, the serial ports of the other single-finger controllers are in an uncolored 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, transmission of control parameters and reception of sensor module information are performed; and the single-finger controller sends a control command to the driver module in a serial port communication mode.
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