Manipulator Control System Based on Flexible Sensor Technology

Abstract

The research on the remote control of manipulators based on flexible sensor technology is gradually extensive. In order to achieve stable, accurate, and efficient control of the manipulator, it is necessary to reasonably design the structure of the sensor with excellent tensile strength and flexibility. The acquisition of manual information by high-performance sensors is the basis of manipulator control. This paper starts with the manufacturing of materials of the flexible sensor for the manipulator, introduces the substrate, sensor, and flexible electrode materials, respectively, and summarizes the performance of different flexible sensors. From the perspective of manufacturing, it introduces their basic principles and compares their advantages and disadvantages. Then, according to the different ways of wearing, the two control methods of data glove control and surface EMG control are respectively introduced, the principle, control process, and detection accuracy are summarized, and the problems of material microstructure, reducing the cost, optimizing the circuit design and so on are emphasized in this field. Finally, the commercial application in this field is explained and the future research direction is proposed from two aspects: how to ensure real-time control and better receive the feedback signal from the manipulator.

Design of transmission mechanism of punch feeding and discharging manipulator

“…At the same time, the German Cooka company developed an industrial robot named FAMULUS, which is also the world's first 6-axis mechanical arm powered by electric motors. [8][9] Due to the late development of the machinery industry in China, there is a certain gap in the research development and application of robots compared with foreign countries. Until now, industrial robots can only be seen in some large factories.…”