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CN-122008222-A - Pure touch information-based grabbing initial stability judgment and slave-end autonomous adjustment method

CN122008222ACN 122008222 ACN122008222 ACN 122008222ACN-122008222-A

Abstract

The invention discloses a method for judging the initial stability of grabbing based on pure touch information and automatically adjusting a slave end, which is characterized in that after resultant force balance and moment balance are independently analyzed, the respective results are combined, and a feasible domain of acting force is given in a geometric figure mode so as to adjust the acting force under the condition that initial balance conditions are not met. Meanwhile, the invention firstly leads out the stability judging basis and the corresponding feasible domain from the plane problem, and then converts the problem of the three-dimensional space into the combination of a plurality of projection plane problems. The slave can give out whether the current grasping is stable or not according to the grasping initial stability judging method provided by the invention, and can apply grasping force according to the amplitude ratio of each force when the current grasping is possible, or the slave can carry out grasping adjustment according to the returned force direction and the feasible region of the acting position, so that grasping robustness is improved.

Inventors

  • QIU SHIMING
  • FENG JIAYI
  • BAO GUANJUN

Assignees

  • 浙江工业大学

Dates

Publication Date
20260512
Application Date
20260318

Claims (7)

  1. 1. The method for judging the initial stability of grabbing and automatically adjusting the slave end based on the pure touch information is characterized by comprising the following steps of: (1) Analyzing the relevant sector area and circular arc of the resultant force direction of the contact force of two fingers except the thumb, analyzing the influence of the newly applied contact force of other fingers on the resultant force direction, converting the stability problem into a sector area for calculating the contact force of four fingers and judging the position of the thumb force direction vector; (2) Setting and calculating a coordinate origin of a gripped object according to the fingertip position, analyzing the sum of moments generated by applying force to fingers except the thumb, finding a feasible region of the thumb applying force position according to the moment and the moment, and determining the action position deviation between the gripping force and the ideal expected force according to the thumb gripping force and the moment; (3) The grabbing stability analysis in the three-dimensional space comprises the steps of limiting and calculating a boundary vector according to an original force vector and a force amplitude ratio, projecting the boundary vector to a target plane, calculating a convex graph, judging force balance and giving a feasible domain of a force direction, calculating a range of a synthesized moment according to the boundary vector, and solving in a force amplitude limiting range when the force applied by the current finger simultaneously meets the force balance and the moment balance; (4) And the slave end grasp autonomous adjustment strategy is to analyze related data of grasp gestures and formulate a corresponding seeking adjustment mode according to the edge profile of the object and the expected position of the contact point of the thumb.
  2. 2. The method for determining initial stability of capturing and automatically adjusting a slave according to claim 1, wherein the step (1) comprises the following sub-steps: step 1.1, the holding force exerted by five fingers on the object is recorded as The resultant force direction of the contact force applied by two of the four fingers except the thumb is located in a unit circle sector area of the included angle of the two force, and the sector area is recorded as The arc between the contact points of the two forces on the unit circle is recorded as ; Step 1.2, analyzing the contact force newly applied by other fingers on the unit circle, if the contact point is in the arc If the new contact force is in the sector area, the possible direction of the resultant force is not affected The resultant force direction may be any direction within the plane, and if the new contact force does not satisfy both conditions, the addition of the new contact force will form a new sector; step 1.3, converting the stability problem into a sector area for calculating the contact force of four fingers, and judging whether the direction vector of the thumb applied force is in the diagonal area of the sector area; Step 1.4, understanding the force stability judging method as a convex cone composed of contact force vectors Whether or not there is a non-negative coefficient Wherein To limit the amplitude ratio at the time of force synthesis, a certain point in the convex cone is made to be a zero vector.
  3. 3. The method for determining initial stability of capturing and automatically adjusting a slave according to claim 1, wherein the step (2) comprises the following sub-steps: Step 2.1, setting the origin of coordinates of the object to be grasped at the position of the fingertip The calculation is as follows: ; Wherein the method comprises the steps of Indicating the number of fingers in which there is a contact, A pose conversion matrix representing the origin of each finger base joint and palm, Representing the joint angle of each finger, wherein , Respectively representing thumb, index finger, middle finger, ring finger and little finger; Representing the positive kinematic conversion matrix of each finger, A curved surface model representing a fingertip, the corresponding relationship between the two-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the fingertip coordinate system is that Wherein Representing the three-dimensional coordinates of the contact point under the coordinates of the fingertip; Step 2.2 analyzing the sum of the moments generated by the fingers except the thumb, finding the feasible region of the thumb force applying position according to the sum of the moments, and applying the sum of the moments generated by the four fingers except the thumb The calculation method comprises the following steps: ; Representing a limitation on the ratio of the magnitude of the grasping force for each fingertip, A distance vector representing the center of rotation of the object; step 2.3, obtaining the moment sum of the four-finger gripping force except the thumb through the calculation of the moment sum formula in the step 2.2, and determining the action position deviation between the gripping force and the ideal expected force, which is a continuous value and a boundary value, according to the known thumb gripping force and the calculated moment sum Appear on a combination of magnitude ratio boundaries.
  4. 4. The method for determining initial stability of capturing and automatically adjusting a slave according to claim 1, wherein the step (3) comprises: Limiting according to original force vector and force amplitude ratio Calculating boundary vectors ; Projecting the boundary vector to the target plane, calculating a convex graph, and judging the force balance and giving a feasible region of the force direction according to the convex graph and the relation between the boundary vector and the projection plane; Calculating the range of the resultant moment from the boundary vector Judging whether the contact point coordinate is within a feasible region of the action point position according to the relation between the contact point coordinate and the boundary line extension intersection point; If the force applied by the current finger simultaneously meets the force balance and the moment balance, the force is limited in the force amplitude limit range And solving, wherein the judgment basis of whether the solution is the direction error or not is whether the moment error is lower than a preset value or not.
  5. 5. The method for determining initial stability of capturing and automatically adjusting a slave according to claim 1, wherein the step (4) comprises the following sub-steps: Step 4.1, analyzing relevant data of the grabbing gesture; And 4.2, if the edge profile of the object is known and the position of the expected contact point of the thumb is still located in the original contact point plane, the thumb moves to a target position feasible domain to perform finding, and if the edge profile of the object is unknown or the position of the expected contact point of the thumb deviates from the original contact point plane, the whole hand is subjected to translation finding along the plane direction or along the plane normal vector direction.
  6. 6. An electronic device comprising a memory and a processor, wherein the memory is coupled to the processor, wherein the memory is configured to store program data, and wherein the processor is configured to execute the program data to implement the initial stability determination and slave-to-master adjustment method based on pure haptic information as set forth in any one of claims 1-5.
  7. 7. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method for initial stability determination and slave-side autonomous adjustment based on pure haptic information according to any one of claims 1 to 5.

Description

Pure touch information-based grabbing initial stability judgment and slave-end autonomous adjustment method Technical Field The invention belongs to the field of robot operation, and particularly relates to a method for judging the initial stability of grabbing based on pure touch information and automatically adjusting a slave end. Background In recent years, the robot technology is rapidly developed under the promotion of high-tech, wherein structural hardware and a control algorithm are mature, but the autonomous decision capability is still a main short board which restricts the wide application of humanoid robots. Although various large models are layered endlessly at present, a long distance is left from the realization of autonomous decision of a general scene, and before the long distance, teleoperation combines the intelligent decision of human beings with the motion capability of a robot to solve the problem of practical application, and meanwhile, provides a continuous data source for the autonomous decision of the driving robot. The arm and hand are the main parts of human and robot interaction with the outside, play a key role in the task execution process, and therefore become the main focus of teleoperation systems. The existing data acquisition equipment mainly comprises types based on VR, a controller, isomorphism of master and slave, optics, inertia and the like, but the types are generally difficult to capture fine hand motion and touch information at the same time, so that information support is insufficient in the operation of the humanoid arm and hand. Additional effort is still required to make up for the deficiencies of conventional data acquisition devices to bridge human presentation data and prior to robotic operation. In order to make up the defects, many scholars research the mapping algorithm of the hands and the manipulators, namely, the fidelity of the hand movements is realized by focusing on the kneading distance between fingertips, the relative positions of key points of the hands and the mutual collision between fingers, but the method is limited by the defect of touch information, and also, some scholars try to make force feedback and touch sense into data gloves to simultaneously provide contact force information for master and slave ends, but are difficult to realize stable robust control due to the factors such as environmental difference, inconsistent information sources and higher requirements on the proficiency of operators, and some scholars try to break through on the control strategy of slave ends, firstly train a stable and feasible action primitive library and map the operation data of human beings into a preset action primitive library. Therefore, it is important to develop a strategy for determining the initial stability of capturing based on pure haptic information and automatically adjusting the slave. Disclosure of Invention The invention aims to provide a method for judging the initial stability of grabbing based on pure touch information and automatically adjusting a slave terminal aiming at the defects of the prior art. The invention aims at realizing the technical scheme that the method for judging the initial stability of grabbing and automatically adjusting the slave end based on pure touch information comprises the following steps: (1) Analyzing the relevant sector area and circular arc of the resultant force direction of the contact force of two fingers except the thumb, analyzing the influence of the newly applied contact force of other fingers on the resultant force direction, converting the stability problem into a sector area for calculating the contact force of four fingers and judging the position of the thumb force direction vector; (2) Setting and calculating a coordinate origin of a gripped object according to the fingertip position, analyzing the sum of moments generated by applying force to fingers except the thumb, finding a feasible region of the thumb applying force position according to the moment and the moment, and determining the action position deviation between the gripping force and the ideal expected force according to the thumb gripping force and the moment; (3) The grabbing stability analysis in the three-dimensional space comprises the steps of limiting and calculating a boundary vector according to an original force vector and a force amplitude ratio, projecting the boundary vector to a target plane, calculating a convex graph, judging force balance and giving a feasible domain of a force direction, calculating a range of a synthesized moment according to the boundary vector, and solving in a force amplitude limiting range when the force applied by the current finger simultaneously meets the force balance and the moment balance; (4) And the slave end grasp autonomous adjustment strategy is to analyze related data of grasp gestures and formulate a corresponding seeking adjustment mode according to the edge profile of the o