Master-slave System of Bionic Manipulator Based on Multi-sensor Data Glove

To solve the problems of high operation difficulty, low operation accuracy, and poor flexibility in the current remote operation mode of the bionic manipulator, a set master-slave control system of fire-fighting auxiliary manipulators based on multi-sensor data gloves are designed. The manipulator g...

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Bibliographic Details
Published in2023 35th Chinese Control and Decision Conference (CCDC) pp. 2502 - 2505
Main Author Ying-Kun, Zhang
Format Conference Proceeding
LanguageEnglish
Published IEEE 20.05.2023
Subjects
bionic manipulator
Control systems
data glove
Data gloves
Grasping
Main-secondary
Manipulators
master-slave control system
multi-sensor
Prototypes
Software design
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Summary:To solve the problems of high operation difficulty, low operation accuracy, and poor flexibility in the current remote operation mode of the bionic manipulator, a set master-slave control system of fire-fighting auxiliary manipulators based on multi-sensor data gloves are designed. The manipulator grasping control method and multi-sensor information fusion technology are introduced in this paper, and the structure and working principle of the multi-sensor data glove are explained in detail. From two aspects of hardware design and software design, the design ideas of key components, control software and bluetooth communication module of the master-slave control system are analyzed in detail. A set of prototypes was developed, and the effectiveness of the master-slave control system was verified through the grasping tests of two sets of simulated dangerous explosives with different parameters.
ISSN:1948-9447
DOI:10.1109/CCDC58219.2023.10327378