Research On Robot Soft Grasp Strategy Based On Haptic Sensing System

Robot soft grasp is a very important technology in robot operation.It combines soft material,control system,tactile sensor and artificial intelligence research.The technology of robotic soft grasp requires that during the whole process of grasp,the tactile sensor provides object tactile information capable of realizing the whole process and multi-dimension under the visual aid function.The algorithm strategy provides a safe and stable grasp strategy and finally realizes undamaged,safe interaction or grasp.Based on the requirements of soft grasping technology,through the analysis of flexible materials,sensor structures,simulation analysis,and three-dimensional force decoupling,research can be performed on three-dimensional contact force-sensitive tactile sensors,designing tactile sensor arrays and signal processing circuits;Material quality detection,grasp states determination and slip direction are the cores,a soft grasp strategy based on haptic system is studied.The soft grasping process is divided into pre-grasping stage and grasping stage: In the pre-grasping stage,a short process sliding pre-grasping method is designed,based on the LuGre friction model to realize the identification of friction parameters of different objects,and through naive Bayesian algorithm perform performance tests on object material recognition,whose accuracy reaches 90.8%.At the grasp stage,the DWT-PSR-SVM-based grasp state recognition fusion algorithm is designed.The three-dimensional force time series extracts the detailed time series of different capture states,and constructs a topologically significant phase space as a feature vector for the detailed time series through the phase space reconstruction method.Finally,it recognizes the different grasp states through a support vector machine.Its recognition accuracy reaches 94.8%.The experimental results show that the design of the tactile sensing system and the soft grasp strategy can realize the accurate perception of the target tactile information and realize the safe and stable soft grasp operation.The feasibility and reliability of the soft grasp strategy based on the tactile perception system are verified,which provides a basis for improving the interactive application level of robot operation.