基于数据手套的灵巧手主从控制  

Master-slave Control Method of Dexterous Hands Based on Data Glove

作　　者：潘康俊[1] Pan Kangjun(Zhejiang Industry ＆ Trade Vocational College, Wenzhou 325003, Chin)

机构地区：[1]浙江工贸职业技术学院,浙江温州325003

出　　处：《系统仿真学报》2018年第7期2600-2607,共8页Journal of System Simulation

基　　金：国家自然科学基金重点项目(61332017);浙江省自然科学基金(LY13E050025);浙江省科技厅公益项目(2016C33174)

摘　　要：由于受到人工智能、自动控制和传感器等技术的限制,灵巧手在非结构化环境下实现完全自主的操作还是非常困难,研究提出了一种数据手套和步进电机组合方式的灵巧手主从控制方法。数据手套实时采集人手指关节的运动数据,通过关节映射,步进电机转动方向和脉冲数的求解,生成符合通信协议的运动指令,驱动步进电机操控灵巧手运动。实验结果表明数据手套和步进电机组合方式的灵巧手主从控制方法是可行的,可以实现灵巧手的开环控制,具有较好的运动精度、实时性和稳定性。With the limitations of artificial intelligence, automatic control, and sensor, the dexterous hand in unstructured environments is still very difficult to achieve fully autonomous operation. A master-slave control method of dexterous hands with the combination of data glove and stepper motors is proposed. By the Cyberglove II device, human finger joints＇ motion data is gathered in real time, then, the motion data are matched to the dexterous hand＇ joints respectively. A communication protocol is designed to transfer the motion data between the PC and the ICB. Lastly, the motion data are transferred to the ICB through a serial interface and drive the corresponding dexterous hand＇ joints motion. The experimental results show that this method is feasible, can achieve the open-loop control of dexterous hands, and has better movement accuracy, real-time and stability.

关 键 词：主从控制 灵巧手 数据手套 步进电机 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]