CN112338939A - A six-dimensional operating handle for robotic arm control - Google Patents
A six-dimensional operating handle for robotic arm control Download PDFInfo
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- CN112338939A CN112338939A CN202011171910.8A CN202011171910A CN112338939A CN 112338939 A CN112338939 A CN 112338939A CN 202011171910 A CN202011171910 A CN 202011171910A CN 112338939 A CN112338939 A CN 112338939A
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- 230000033001 locomotion Effects 0.000 claims abstract description 67
- 238000013507 mapping Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 238000010146 3D printing Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 abstract 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 7
- 229910052802 copper Inorganic materials 0.000 description 7
- 239000010949 copper Substances 0.000 description 7
- 210000003811 finger Anatomy 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
本发明公开了一种用于机械臂控制的六维操作手柄，包括嵌入式光电轨迹球、Z向运动开关、IMU姿态传感器和手柄主体。所述嵌入式光电轨迹球位于手柄主体的底部，轨迹球滚动时的方向和速度信息，可以通过内置的光学感应元件记录并输出，用于控制六自由度机械臂在水平面上的X轴和Y轴运动。所述Z向运动开关包括于手柄主体中部偏下位置的正方向运动开关和负向运动开关，分别对应控制机械臂的Z轴正向和负向运动。所述IMU姿态传感器安装在手柄主体顶部，用于检测手柄主体的姿态角信息。本发明提供的一种用于机械臂控制的六维操作手柄，可以对机械臂的六个主动自由度进行操控，且其具有易操作、低成本、可控性好的特点。
The invention discloses a six-dimensional operation handle for mechanical arm control, comprising an embedded photoelectric trackball, a Z-direction motion switch, an IMU attitude sensor and a handle body. The embedded photoelectric trackball is located at the bottom of the handle body. The direction and speed information of the trackball can be recorded and output through the built-in optical sensing element to control the X-axis and Y-axis of the six-degree-of-freedom robotic arm on the horizontal plane. axis movement. The Z-direction motion switch includes a positive-direction motion switch and a negative-direction motion switch located at a lower position in the middle of the handle main body, which respectively control the positive and negative motions of the Z-axis of the robotic arm. The IMU attitude sensor is installed on the top of the handle body, and is used to detect the attitude angle information of the handle body. The invention provides a six-dimensional operating handle for manipulator control, which can control six active degrees of freedom of the manipulator, and has the characteristics of easy operation, low cost and good controllability.
Description
Technical Field
The invention belongs to the field of machinery, relates to a mechanical arm following control technology, and particularly relates to a six-dimensional operating handle for mechanical arm control.
Background
With the development of mechanical arm technology, the number of degrees of freedom given to the mechanical arm is rapidly increasing, and the purpose of the method is to enhance the flexibility of mechanical arm movement so as to adapt to more complex scenes. At present, the number of degrees of freedom of a mechanical arm serving as an action execution end is increased to six degrees of freedom or even more, however, at a control end, a traditional control device such as a traditional mouse and a rocker can only output two-dimensional and three-dimensional control information, and cannot meet the requirement of multi-dimensional control.
In recent years, devices such as a 3D mouse and a Force Dimension Force feedback device can output six-dimensional control information, but have the problems of high operation difficulty, high cost and the like, and a user cannot master a control method without training, and the applicable scenes are few.
Disclosure of Invention
In view of the above-mentioned disadvantages of the prior art six-dimensional control device, the present invention provides a six-dimensional operating handle for controlling a robotic arm, which has the features of easy operation, low cost and good controllability.
In order to achieve the purpose, the invention adopts the technical scheme that:
a six-dimensional operating handle for mechanical arm control is used for controlling a mechanical arm with six degrees of freedom and lower than the six degrees of freedom, and is characterized in that: the six-dimensional operation handle comprises a handle main body, an embedded photoelectric trackball, a Z-direction motion switch and an IMU attitude sensor, wherein the embedded photoelectric trackball, the Z-direction motion switch and the IMU attitude sensor are arranged on the handle main body; defining a robot arm execution end coordinate system XpYpZpZ of (A)pThe axis coinciding with the axis of the actuating tip, XpOpYpThe plane is perpendicular to the axis of the execution tail end, and the working plane corresponds to X in the coordinate system of the execution tail end of the mechanical armpOpYpPlane, handle main bodyThe axis of the handle corresponds to the Z axis in the robot arm execution tail end coordinate system, and the mapping relation between the handle main body and the execution tail end action is established, so that the execution tail end moves along with the handle main body action.
Further, the bottom of the handle main body is provided with a mounting groove, and the embedded photoelectric track ball can be detachably mounted in the mounting groove through a bolt.
Furthermore, the Z-direction motion switch comprises a positive direction motion switch and a negative direction motion switch, and the two motion switches are self-resetting pressure switches.
Furthermore, the diameter reducing part is convenient to hold in the middle of the handle main body, and the positive direction motion switch and the negative direction motion switch are arranged at the diameter reducing part in the middle of the handle main body in an up-down mode.
Further, the IMU posture sensor is mounted on the top of the handle main body.
Further, the attitude information measured by the IMU attitude sensor comprises a rotation angle which forms an included angle with the working plane and rotates around the axis of the handle body.
Further, the whole 3D printing production that adopts of handle main part, the inside cavity of being convenient for the wiring of handle main part.
Further, the IMU posture sensor is modularly installed on the top of the hollow handle main body through a bolt.
Further, the IMU posture sensor and the central axis of the handle body are collinear, and the axis line passes through the sphere center of the embedded photoelectric trackball.
The embedded photoelectric track ball is a mature application module in the industry, the working principle of the embedded photoelectric track ball is not described too much, and the embedded photoelectric track ball is used as an information acquisition module in the invention.
Furthermore, the trackball at the bottom of the six-dimensional operating handle is not limited to be used by rolling on a table top, but can also be used on other flat or slightly folded surfaces, and as long as the handle is moved, the trackball is correspondingly rotated, so that a movement signal on a horizontal plane can be generated, and the horizontal movement of the mechanical arm can be controlled.
Further, the six-degree-of-freedom robot arm refers to a robot arm having six active degrees of freedom in a general sense, and the six-degree-of-freedom robot arm will be specifically used as a control object in the following description of the present invention, but the content is not limited thereto.
Furthermore, the number of the Z-direction motion switches is two, namely a positive direction motion switch and a negative direction motion switch, which are located at the lower middle position of the six-dimensional operating handle and are vertically and adjacently arranged. The upper button and the lower button respectively correspond to the Z of the control mechanical armpThe shaft moves.
Further, when the forward motion switch is pressed by a finger and the finger is always in a state of pressing the button, the six-dimensional operating handle continuously outputs a signal moving in the forward direction of the Z axis, and the tail end of the controlled mechanical arm moves vertically upwards along with the signal. When the finger moves away from the button, the button can automatically reset and bounce, the six-dimensional operating handle immediately stops outputting a Z-axis moving signal, and the mechanical arm stops moving in the vertical direction.
Further, when the negative motion switch is pressed by a finger and the finger is always kept in a state of pressing the button, the six-dimensional operating handle can continuously output the Z-directionpThe controlled end of the robot arm will follow Z in response to a signal moving in the negative directionpMoving downward. When the finger moves away from the button, the button can automatically reset and bounce, and the six-dimensional operating handle immediately stops outputting ZpThe mechanical arm stops Z along with the shaft moving signalpThe movement of the direction.
Furthermore, when the positive direction movement switch and the negative direction movement switch are pressed simultaneously, the six-dimensional operating handle can not output ZpAn axis movement signal.
Further, the IMU attitude sensor is mounted at the top of the handle body and used for detecting attitude angle information of the handle body, the attitude angles comprise attitude angles around an X axis, a Y axis and a Z axis, the three-axis attitude angle information detected by the IMU attitude sensor is sent to the six-degree-of-freedom mechanical arm, and attitude mapping from the six-dimensional operating handle to the tail end of the mechanical arm is established.
Furthermore, the initial pose of the IMU attitude sensor is fixed every time, namely a fixed mapping relation can be established between a coordinate system initialized by the IMU attitude sensor and a coordinate system of the mechanical arm, so that the six-dimensional operating handle is in an absolute mapping relation to the attitude control of the mechanical arm.
Further, the handle main body comprises a handle main shell, an IMU posture sensor protection cover, screws and copper nuts. The handle main casing body uses 3D to print the preparation, and the space of walking the line is left to inside fretwork, and the outlet is left at the top. The copper nut is embedded into a fixing hole reserved in the main shell of the handle, and the screw is screwed on the copper nut through the fixing hole of the embedded photoelectric track ball and the fixing hole of the IMU attitude sensor. And an IMU attitude sensor wire outlet is formed in the side edge of the IMU attitude sensor protective cover.
The invention has the beneficial effects that:
1. an absolute mapping relation from the six-dimensional operating handle to the tail end of the mechanical arm is established by utilizing the IMU attitude sensor, so that the attitude control of the mechanical arm is more visual and simple.
2. The handle main part is designed into a curved surface shape fitting the palm, is easy to hold and increases the comfort level of operation.
3. The track ball is not limited by a motion surface, so that the six-dimensional operating handle can be used in various working environments, and even an operator can hold the six-dimensional operating handle with one hand and can control the movement of the mechanical arm by stirring the track ball with the other hand.
4. The six-dimensional operating handle is low in overall manufacturing cost and simple in use method.
Drawings
FIG. 1 is an overall external view of a six-dimensional operating handle according to the present invention;
FIG. 2 is a structural cross-sectional view of a six-dimensional operating handle according to the present invention;
FIG. 3 is an exploded view of the six-dimensional operating handle of the present invention;
FIG. 4 is a schematic view of a six-dimensional operating handle control method according to the present invention;
fig. 5 is a schematic view of a six-dimensional operating handle according to the present invention.
The device comprises a 1-embedded photoelectric trackball, a 2-Z-direction motion switch, a 21-positive direction motion switch, a 22-negative direction motion switch, a 3-IMU posture sensor, a 4-handle main body, a 41-handle main shell, a 42-IMU posture sensor protective cover, a 43-countersunk head screw, a 44-M2.5 copper nut, a 45-M4 copper nut, a 46-pan head screw and a 5-working plane.
Detailed Description
In order to make the technical problem and the technical solution to be solved by the present invention clearer, the following describes in detail a six-dimensional operating handle for robot arm control according to the present invention with reference to the accompanying drawings and embodiments, which are used for explanation and not limitation of the present invention.
As shown in fig. 1, a six-dimensional operating handle for controlling a mechanical arm with six degrees of freedom and lower than six degrees of freedom comprises a handle body 4, a controller, an embedded photoelectric trackball 1 mounted on the handle body 4, a Z-direction motion switch 2 and an IMU attitude sensor 3, wherein a working plane 5 (a desktop in the embodiment) for rolling the photoelectric trackball is arranged below the handle body 4, the IMU attitude sensor 3 is used for detecting attitude information of the handle body 4, the embedded photoelectric trackball 1 is located at the bottom of the handle body 4 and is used for acquiring direction and speed information of the six-dimensional operating handle in the working plane 5, and the Z-direction motion switch 2 can send out axial motion information along the handle body 4; defining a coordinate system XYZ of the handle body 4, wherein an XOY plane is parallel to the working plane 5 and is generally in a horizontal direction, a Z axis is in a vertical direction, and Z' is in an axial direction of the handle body 4; defining a robot arm execution end coordinate system XpYpZpZ of (A)pThe axis coinciding with the axis of the actuating tip, XpOpYpThe plane is perpendicular to the axis of the execution tail end, and the working plane corresponds to X in the coordinate system of the execution tail end of the mechanical armpOpYpAnd the axis of the handle main body corresponds to the Z axis in the mechanical arm execution tail end coordinate system, and the mapping relation between the handle main body and the execution tail end action is established, so that the execution tail end acts along with the action of the handle main body.
According to the mapping relation, the direction and the speed of the handle body 4 in the working plane 5 are controlled by the controllerInformation is converted to execution end at X according to fixed proportionpOpYpThe movement speed and direction information in the plane converts the posture and posture change information of the handle body 4 into the posture and posture change information of the execution tail end, and converts the movement information sent by the Z-direction movement switch 2 along the axial direction of the handle body 4 into the movement information of the execution tail end along the axial direction thereof; the invention completely separates the movement of the handle body 4 in the working plane, the posture change and the advance and retreat movement on the axis of the handle body 4, and the three movements are respectively and independently controlled, thereby effectively reducing the interference of the posture of the handle body 4 to the movement in the plane and the Z-direction movement, and being more suitable for the sensory control on the screen during the remote control (because the plane where the screen is generally positioned and the X-direction movement during the remote control)pOpYpPlane parallel)
The bottom of the handle body 4 is provided with a mounting groove, and the embedded photoelectric track ball 1 is detachably mounted in the mounting groove through a bolt; the Z-direction motion switch 2 comprises a positive direction motion switch 21 and a negative direction motion switch 22, and the two motion switches are self-resetting pressure switches. The middle part of the handle main body 4 is provided with a reducing part which is convenient to hold, and the positive direction motion switch 21 and the negative direction motion switch 22 are arranged at the reducing part in the middle part of the handle main body 4 in an up-down mode; the IMU attitude sensor 3 is arranged at the top of the handle body 4, and attitude information measured by the IMU attitude sensor 3 comprises a rotation angle which forms an included angle with the working plane 5 and rotates around the axis of the handle body 4.
The IMU attitude sensor 3 is modularly installed at the top of the hollow handle main body 4 through a bolt, the central axes of the IMU attitude sensor 3 and the handle main body 4 are collinear, and the axis passes through the center of the embedded photoelectric track ball 1.
When the multifunctional electronic tracking ball is used, in general, an operator holds the middle part of the handle body 4 to be in a lower position, the thumb is placed near the Z-direction motion switch 2, the embedded photoelectric tracking ball 1 is arranged below the palm, and the IMU posture sensor 3 is arranged above the palm.
For the installation mode of the embedded photoelectric track ball 1, referring to fig. 2 and 3, the embedded photoelectric track ball 1 is installed in an installation groove reserved below the handle main housing 41, and fixing holes are distributed around the installation groove. During installation, the M4 copper nut 45 is firstly plugged into the fixing hole, then the embedded photoelectric trackball 1 is pushed into the mounting groove, and finally the pan head screw 46 is screwed. The handle main shell 41 is hollow, so that wiring and self-weight reduction are facilitated, and a signal transmission line of the embedded photoelectric track ball 1 is led to a top outlet from the inside of the handle main shell 41 and is finally connected with the controller.
Referring to fig. 2 and 3, the positive direction movement switch 21 and the negative direction movement switch 22 are respectively mounted on the side wall of the handle main housing 41 by using flat nuts, and the pin connections of the positive direction movement switch 21 and the negative direction movement switch 22 are also led to a top outlet from the inside of the handle main housing 41, and are finally connected with a controller, and the controller can be arranged independently or can share one with the mechanical arm.
Referring to fig. 2 and 3, the IMU attitude sensor 3 is mounted on the top of the main handle housing 41, the IMU attitude sensor protective cover 42 covers the IMU attitude sensor 3 from above, and the IMU attitude sensor protective cover 42 is fixed on the top of the main handle housing 41 by using a countersunk screw 43 and an M2.5 copper nut 44, so as to prevent the sensor from being damaged by collision during use.
Referring to fig. 4, an operator holds the handle body 4 and moves the handle body back and forth, left and right on a table (working plane 5) and presses the Z-direction motion switch 2, so that the movement of the tail end of the mechanical arm in three coordinate axis directions of an execution tail end coordinate system can be controlled, the six-dimensional operation handle is deflected or rotates, and the tail end of the mechanical arm can be controlled to rotate around an X axis, a Y axis and a Z axis.
Referring to fig. 5, a six-dimensional operating handle is arranged on the left side of the drawing, a six-degree-of-freedom mechanical arm serving as a control object is arranged on the right side of the drawing, moving and rotating information of the six-dimensional operating handle is collected and converted into moving and attitude signals through an embedded photoelectric track ball 1 in the handle, a Z-direction moving switch 2 and an IMU attitude sensor 3 and sent to the right mechanical arm, the mechanical arm obtains a rotating angle of each joint through inverse solution according to the moving and attitude signals, and the six joints are controlled to rotate so that the tail end of the mechanical arm moves and rotates according to the control signals of the six-dimensional operating handle.
Referring to FIGS. 4 and 5, the six-dimensional pair of manipulation handles move along and around the X, Y, and Z axes,The control of the rotation around the Z-axis is not affected. The following is a description of one possible use case: an operator holds the six-dimensional operating handle by hand, a controlled object is a six-degree-of-freedom mechanical arm, the operator firstly moves the handle to the Y-axis negative direction of the six-dimensional operating handle on a desktop (working plane 5), and at the moment, the tail end of the controlled mechanical arm can synchronously move towards the Y axis of an execution tail end coordinate systempThe axis moves in the negative direction, then the operator keeps moving the handle in the negative direction of the Y axis while pressing the positive direction motion switch 21 for controlling the upward motion, and the tail end of the mechanical arm moves to the Y direction at the same timePAxial negative direction and ZpThe axis moves in the positive direction, if the operator rotates the six-dimensional operating handle for a certain angle around the X axis at the moment, the tail end of the mechanical arm can simultaneously rotate around the X axisPThe shafts rotate the same angle.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.
Claims (9)
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| CN202011171910.8A CN112338939B (en) | 2020-10-28 | 2020-10-28 | Six-dimensional operating handle for mechanical arm control |
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| CN202011171910.8A CN112338939B (en) | 2020-10-28 | 2020-10-28 | Six-dimensional operating handle for mechanical arm control |
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Cited By (2)
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| CN113208738A (en) * | 2021-04-26 | 2021-08-06 | 武汉联影智融医疗科技有限公司 | Puncture robot, master controller and force feedback puncture needle insertion controller |
| CN113485521A (en) * | 2021-07-05 | 2021-10-08 | 西北工业大学 | Control handle capable of measuring six-dimensional force and motion state |
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| Publication number | Publication date |
|---|---|
| CN112338939B (en) | 2021-09-14 |
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