CN106976089A - The control method of bionics robotic arm - Google Patents
The control method of bionics robotic arm Download PDFInfo
- Publication number
- CN106976089A CN106976089A CN201710408115.8A CN201710408115A CN106976089A CN 106976089 A CN106976089 A CN 106976089A CN 201710408115 A CN201710408115 A CN 201710408115A CN 106976089 A CN106976089 A CN 106976089A
- Authority
- CN
- China
- Prior art keywords
- arm
- robotic arm
- bionics
- joint
- gyroscope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 235000001968 nicotinic acid Nutrition 0.000 title claims abstract description 20
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 10
- 238000004088 simulation Methods 0.000 claims abstract description 5
- 238000000605 extraction Methods 0.000 claims abstract description 4
- 210000003857 wrist joint Anatomy 0.000 claims description 6
- 210000002758 humerus Anatomy 0.000 claims description 3
- 210000000623 ulna Anatomy 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
-
- 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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the control method of bionics robotic arm, including bionics robotic arm and gyroscope chip, comprise the following steps：The turning joint of turning joint and human arm on extraction machine arm matches；Gyroscope chip is installed on each joint of the arm of operating personnel；Gyroscope chip is matched with the turning joint on corresponding device arm；Robotic arm is controlled by the speed of each gyroscope chip in human arm, solve existing bionics robotic arm and the arm similarity more and more higher of people, but, it is also rare by simulating the action of human arm come the work of control biomimetics robotic arm, the problem of existing control method is also complex.It is an advantage of the invention that：The action of simulation human arm is operated, and bionical degree is high；Simulate control successively since elbow joint, control method is simple.
Description
Technical field
The present invention relates to a kind of robotic arm control method, and in particular to the control method of bionics robotic arm.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, in industry system
Make, therapeutic treatment, entertainment service, military affairs, the field such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they have one it is common the characteristics of, can exactly receive instruction, be precisely positioned to three-dimensional space
Between on certain point carry out operation.
Existing bionics robotic arm and the arm similarity more and more higher of people, it is still, also rare by simulating human hand
The action of arm carrys out the work of control biomimetics robotic arm, and existing control method is also complex.
The content of the invention
The technical problems to be solved by the invention be the arm similarity of existing bionics robotic arm and people increasingly
Height, still, what the also rare action by simulating human arm worked come control biomimetics robotic arm, existing control method
It is complex, it is therefore intended that the control method of bionics robotic arm is provided, solve existing bionics robotic arm and people
Arm similarity more and more higher, still, what the also rare action by simulating human arm worked come control biomimetics robotic arm,
The problem of existing control method is also complex.
The present invention is achieved through the following technical solutions：
The control method of bionics robotic arm, including bionics robotic arm and gyroscope chip, comprise the following steps：
A, the turning joint on extraction machine arm and the turning joint of human arm match；
B, on each joint of the arm of operating personnel gyroscope chip is installed；
C, gyroscope chip matched with the turning joint on corresponding device arm；
D, by the speed of each gyroscope chip in human arm robotic arm is controlled.
Gyroscope chip is separately mounted to the end of elbow joint, wrist joint and each finger in the step B.
The method bag being controlled in the step D by the speed of each gyroscope chip in human arm to robotic arm
Include the following steps carried out successively：
D1, be successively read elbow joint, wrist joint and each finger end gyroscope parameters；
The partial act of humerus is simulated in D2, the gyroscope parameters control machine arm according to elbow joint；
D3, the partial act according to simulation ulna and radius in carpal gyroscope parameters control machine arm；
The partial act of phalanges is simulated in D4, the gyroscope parameters control machine arm according to the end of finger.
The present invention compared with prior art, has the following advantages and advantages：
1st, the control method of bionics robotic arm of the present invention, the action of simulation human arm is operated, and bionical degree is high；
2nd, the control method of bionics robotic arm of the present invention, simulates control, control method letter successively since elbow joint
It is single.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment, to present invention work
Further to describe in detail, exemplary embodiment and its explanation of the invention is only used for explaining the present invention, is not intended as to this
The restriction of invention.
Embodiment
The control method of bionics robotic arm of the present invention, including bionics robotic arm and gyroscope chip, including with
Lower step：
A, the turning joint on extraction machine arm and the turning joint of human arm match；
B, on each joint of the arm of operating personnel gyroscope chip is installed；Gyroscope chip is separately mounted to elbow pass
The end of section, wrist joint and each finger.
C, gyroscope chip matched with the turning joint on corresponding device arm；
D, by the speed of each gyroscope chip in human arm robotic arm is controlled.Pass through in the step D
The method that the speed of each gyroscope chip is controlled to robotic arm in human arm includes the following steps carried out successively：
D1, be successively read elbow joint, wrist joint and each finger end gyroscope parameters；
The partial act of humerus is simulated in D2, the gyroscope parameters control machine arm according to elbow joint；
D3, the partial act according to simulation ulna and radius in carpal gyroscope parameters control machine arm；
The partial act of phalanges is simulated in D4, the gyroscope parameters control machine arm according to the end of finger.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included
Within protection scope of the present invention.
Claims (3)
1. the control method of bionics robotic arm, including bionics robotic arm and gyroscope chip, it is characterised in that including
Following steps：
A, the turning joint on extraction machine arm and the turning joint of human arm match；
B、；Gyroscope chip is installed on each joint of the arm of operating personnel；
C, gyroscope chip matched with the turning joint on corresponding device arm；；
D, by the speed of each gyroscope chip in human arm robotic arm is controlled.
2. the control method of bionics robotic arm according to claim 1, it is characterised in that gyro in the step B
Instrument chip is separately mounted to the end of elbow joint, wrist joint and each finger.
3. the control method of bionics robotic arm according to claim 2, it is characterised in that pass through in the step D
The method that the speed of each gyroscope chip is controlled to robotic arm in human arm includes the following steps carried out successively：
D1, be successively read elbow joint, wrist joint and each finger end gyroscope parameters；
The partial act of humerus is simulated in D2, the gyroscope parameters control machine arm according to elbow joint；
D3, the partial act according to simulation ulna and radius in carpal gyroscope parameters control machine arm；
The partial act of phalanges is simulated in D4, the gyroscope parameters control machine arm according to the end of finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710408115.8A CN106976089A (en) | 2017-06-02 | 2017-06-02 | The control method of bionics robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710408115.8A CN106976089A (en) | 2017-06-02 | 2017-06-02 | The control method of bionics robotic arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106976089A true CN106976089A (en) | 2017-07-25 |
Family
ID=59344796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710408115.8A Pending CN106976089A (en) | 2017-06-02 | 2017-06-02 | The control method of bionics robotic arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106976089A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895022A (en) * | 2014-03-17 | 2014-07-02 | 东南大学 | Wearable type somatosensory control mechanical arm |
| CN104227733A (en) * | 2014-07-28 | 2014-12-24 | 南京工程学院 | Human-body-induced mechanical arm |
| CN104889996A (en) * | 2015-05-12 | 2015-09-09 | 卓翔 | Augmentor and substitution realization method |
| CN204997657U (en) * | 2015-09-18 | 2016-01-27 | 广东技术师范学院 | Biomimetic mechanical hand with imitate function |
| CN106041995A (en) * | 2016-08-05 | 2016-10-26 | 北京工业大学 | Human-simulated mechanical hand |
| US20170144312A1 (en) * | 2015-11-25 | 2017-05-25 | Umm Al-Qura University | Robotic surgical finger and controller with tactile feedback and robotic hand using the same |
-
2017
- 2017-06-02 CN CN201710408115.8A patent/CN106976089A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895022A (en) * | 2014-03-17 | 2014-07-02 | 东南大学 | Wearable type somatosensory control mechanical arm |
| CN104227733A (en) * | 2014-07-28 | 2014-12-24 | 南京工程学院 | Human-body-induced mechanical arm |
| CN104889996A (en) * | 2015-05-12 | 2015-09-09 | 卓翔 | Augmentor and substitution realization method |
| CN204997657U (en) * | 2015-09-18 | 2016-01-27 | 广东技术师范学院 | Biomimetic mechanical hand with imitate function |
| US20170144312A1 (en) * | 2015-11-25 | 2017-05-25 | Umm Al-Qura University | Robotic surgical finger and controller with tactile feedback and robotic hand using the same |
| CN106041995A (en) * | 2016-08-05 | 2016-10-26 | 北京工业大学 | Human-simulated mechanical hand |
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170725 |