Patent Grant
10970428
This application claims priority from Korean Patent Application No. 10-2015-0046181, filed on Apr. 1, 2015 and Korean Patent Application No. 10-2015-0046185, filed on Apr. 1, 2015 in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.
(a) Field of the Invention
The present invention relates to a method of providing performance indicators of a robot hand and a method of optimizing a structure of the robot hand, and more particularly to a method of providing performance indicators of a robot hand, in which the performance indicators are to objectively compare a plurality of robot hands with respect to performance, and a method of optimizing a structure of the robot hand, in which engineering design criteria are provided to determine essential factors in developing the structure of the robot hand.
(b) Description of the Related Art
A conventional structure for a robot hand has been designed and developed depending on a developer's experience and inspiration so as to mimic a human's hand. Therefore, it was impossible to explain why positions and lengths of joints in the robot hand were determined and designed like that. For example, when a developer designs the structure of the robot hand and determines a position of a saddle joint for a thumb, he couldn't objectively explain why the saddle joint was designed to be positioned like that.
Accordingly, technologies have been required to develop a method of proposing design criteria calculated by an objective method with regard to essential factors needed for designing the robot hand, and optimizing the structure of the robot hand where the essential factors needed for designing the robot hand are explainable with objectively calculated numerical values.
Further, a conventional robot hand has been developed on the assumption that the robot hand being developed by developers has better performance than the existing robot hand.
In general, comparison in performance between different robot hands has been achieved by an object grasp experiment that the robot hands grasp the same object, thereby testing the performance of each robot. However, the method of evaluating the performance of the robot hand through the object grasp experiment cannot determine a structural problem of a robot hand model to be produced until it is actually manufactured as a robot hand. If the actually produced robot hand model has a structural problem, an additional development procedure is needed to modify the robot hand model and complement or solve the problem, thereby unnecessarily wasting costs and manpower.
By the way, ‘opposability of thumb’ has been used as a technique for objectively comparing the performance of the robot hand model, which has already been manufactured or is being developed, with that of a conventionally developed different robot hand. The ‘opposability of thumb’ provides a performance indicator calculated using only three factors including a workspace of fingertips, a length of a thumb and a weighting coefficient as major factors of the performance indicators in order to evaluate the performance of the robot hand. Therefore, it is not suitable to evaluate the performance of the robot hands developed to have various structures such as a robot hand model or the like for imitating a human's hand.
Accordingly, there is a need of developing a technology that can provide an objective numeral value corresponding to the performance of each robot hand when the robot hands modeled to have various structures are compared in performance.
(Korean Patent 1) KR10-1048762 B1
Accordingly, the present invention is conceived to solve the foregoing problems, and an aspect of the present invention is to provide a method of providing performance indicators of a robot hand, in which objectively evaluated data about performance of a robot hand to be manufactured is provided before a robot hand model is actually manufactured.
Another aspect of the present invention is to provide a method of providing performance indicators of a robot hand, in which the performance indicators to be used as criteria for objectively comparing a plurality of actually manufactured robot hands with respect to performance are calculated and provided as numerical values.
Still another aspect of the present invention is to provide a method of optimizing a structure of a robot hand, in which design criteria calculated by an engineering method are provided to a developer who designs the structure of the robot hand depending on a designer's subjective experience and inspiration.
Yet another aspect of the present invention is to provide a method of optimizing a structure of a robot hand, in which an engineering-calculated essential factors including the length of each finger in the robot hand, a start point of a thumb, a motion angle of the thumb, etc. are provided as design criteria.
According to an embodiment of the present invention, there is provided a method of providing performance indicators of a robot hand, wherein the method performed by an operational system includes: receiving setting values for a model of a robot hand structure; calculating workspaces of a thumb tip and finger tips involved in the model based on the received setting values; and calculating performance indicators through ‘interactivity of fingers’ that reflects a volume range where the thumb tip and two finger tips can meet one another.
The thumb tip and the two finger tips may include the thumb tip, an arbitrary finger tip among the finger tips and a finger tip adjacent to the arbitrary finger tip.
The setting values may include: a finger length setting values for information about lengths of the thumb tip and the finger tips involved in the model; thumb start coordinates for a start point of the thumb involved in the model; angle setting values for information about an area where the thumb and the fingers involved in the model of the robot hand structure are movable; and joint movable range values for movable ranges of joints respectively corresponding to the thumb and the fingers involved in the model of the robot hand structure.
The receiving the setting values may include receiving a length value of the thumb and length values of the fingers if the fingers in the model have the same length, and receiving a length value of the thumb and an average length value of the fingers as the finger length setting values if the finger in the model are different in length.
The thumb start coordinates may include x, y and z coordinates of the start point of the thumb in a spatial coordinate system.
The angle setting values may include: angle values between adjacent fingers with respect to a metacarpal; an angle value obtained by rotating the thumb with respect to an x axis at the start point of the thumb; an angle value obtained by rotating the thumb with respect to a y axis at the start point of the thumb on the spatial coordinate system; and an angle value obtained by rotating the thumb with respect to a z axis at the start point of the thumb on the spatial coordinate system.
The joint movable range values may include: a thumb proximal-interphalangeal-joint lateral-movable-range angle value indicating a movable range where a proximal interphalangeal joint of a thumb is movable laterally with respect to a metacarpal front in the model; a thumb proximal-interphalangeal-joint front-movable-range angle value indicating a movable range where the proximal interphalangeal joint of the thumb is movable toward the metacarpal; a thumb middle-interphalangeal-joint front-movable-range angle value indicating a movable range where a middle interphalangeal joint of the thumb is movable toward the metacarpal; a thumb distal-interphalangeal-joint front-movable-range angle value indicating a movable range where a distal interphalangeal joint of the thumb is movable toward the metacarpal; a finger proximal-interphalangeal-joint lateral-movable-range angle value indicating a movable range where a proximal interphalangeal joint of each finger is movable laterally; a finger proximal-interphalangeal-joint front-movable-range angle value indicating a movable range where the proximal interphalangeal joint of each finger is movable toward the metacarpal; and a finger middle and distal-interphalangeal-joint front-movable-range angle value indicating a movable range where the distal interphalangeal joint and the middle interphalangeal joint of each finger are movable toward the metacarpal if the distal interphalangeal joint of the finger is designed to be movable depending on the middle interphalangeal joint, or
On the other hand, if the distal interphalangeal joint of the finger is designed to be movable independently of the middle interphalangeal joint, the joint movable range values may include the thumb proximal-interphalangeal-joint lateral-movable-range angle value; the thumb proximal interphalangeal joint front-movable range angle value; the thumb middle interphalangeal joint front-movable range angle value; the thumb distal interphalangeal joint front-movable range angle value; the finger proximal-interphalangeal joint lateral-movable range angle value; the finger proximal interphalangeal joint front-movable range angle value; a finger middle-interphalangeal-joint front-movable-range angle value indicating a movable range where the middle interphalangeal joint of each finger is movable toward the metacarpal; and a finger distal-interphalangeal-joint front-movable-range angle value indicating a movable range where the distal interphalangeal joint of each finger is movable toward the metacarpal.
The calculating the workspace may include calculating a distance di between the start point of the thumb and the start point of an ith finger based on x, y and z coordinates of the start point of the thumb, the length values of the rest fingers and the angle values between the adjacent fingers with respect to the metacarpal, which are included in the received setting values.
The ‘interactivity of fingers’ is expressed as follows:
where, IF is the calculated interactivity value among the thumb and the fingers; Wi is a weight coefficient of the ith finger previously stored in a storage as a value previously assigned to the ith finger and ranging from 0 to 1; di is a distance between the start point of the thumb and the start point of the ith finger; n is the number of thumb and fingers; n−1 is the number of fingers; θtotal is the total of movable range angle values of the joints included in the fingers controllable in the model of the robot hand structure; Lt is the length of the thumb as a value included in the received setting values; Lf is the length of the fingers as a value included in the setting values; Vi is a volume range where the thumb tip and the ith finger tip can meet; Wi+1 is a weight coefficient of the (i+1)th finger previously stored in the storage as a vale previously assigned to the (i+1)th finger adjacent to the ith finger and ranging from 0 to 1; Vii+1 is a volume range where the thumb tip, the ith finger tip and the (i+1)th finger tip adjacent to the ith finger can meet one another; and k is a compensation coefficient previously stored in the storage to adjust an effect level of Vi and Vii+1.
According to another embodiment of the present invention, there is provided a method of optimizing a structure of a robot hand, wherein the method performed by an operational system includes: receiving initial setting values for a model of a robot hand structure; calculating initial interactivity values between thumb and fingers through ‘interactivity of fingers’ that reflects a volume range where a thumb tip and two finger tips can meet one another, based on the received setting values; calculating a plurality of secondary interactivity values based on the initial interactivity values and the initial setting values by an optimization algorithm; and extracts a maximum secondary interactivity value among the plurality of secondary interactivity values and calculating optimized design values based on the setting values of the extracted maximum secondary interactivity value.
The thumb tip and the two finger tips may include the thumb tip, an arbitrary finger tip among the finger tips and a finger tip adjacent to the arbitrary finger tip.
The initial setting values may include: a finger length setting values for information about lengths of the thumb tip and the finger tips involved in the model; thumb start coordinates for a start point of the thumb involved in the model; angle setting values for information about an area where the thumb and the fingers involved in the model of the robot hand structure are movable; and joint movable range values for movable ranges of joints respectively corresponding to the thumb and the fingers involved in the model of the robot hand structure.
The receiving the initial setting values may include: receiving a length value of the thumb and length values of the fingers as the finger length setting values if the fingers in the model have the same length, and receiving a length value of the thumb and an average length value of the fingers if the finger in the model are different in length.
The thumb start coordinates may include x, y and z coordinates of the start point of the thumb in a spatial coordinate system.
The angle setting values may include: angle values between adjacent fingers with respect to a metacarpal; an angle value obtained by rotating the thumb with respect to an x axis at the start point of the thumb; an angle value obtained by rotating the thumb with respect to a y axis at the start point of the thumb on the spatial coordinate system; and an angle value obtained by rotating the thumb with respect to a z axis at the start point of the thumb on the spatial coordinate system.
The joint movable range values may include: a thumb proximal-interphalangeal-joint lateral-movable-range angle value indicating a movable range where a proximal interphalangeal joint of a thumb is movable laterally with respect to a metacarpal front in the model; a thumb proximal-interphalangeal-joint front-movable-range angle value indicating a movable range where the proximal interphalangeal joint of the thumb is movable toward the metacarpal; a thumb middle-interphalangeal-joint front-movable-range angle value indicating a movable range where a middle interphalangeal joint of the thumb is movable toward the metacarpal; a thumb distal-interphalangeal-joint front-movable-range angle value indicating a movable range where a distal interphalangeal joint of the thumb is movable toward the metacarpal; a finger proximal-interphalangeal-joint lateral-movable-range angle value indicating a movable range where a proximal interphalangeal joint of each finger is movable laterally; a finger proximal-interphalangeal-joint front-movable-range angle value indicating a movable range where the proximal interphalangeal joint of each finger is movable toward the metacarpal; and a finger middle and distal-interphalangeal-joint front-movable-range angle value indicating a movable range where the distal interphalangeal joint and the middle interphalangeal joint of each finger are movable toward the metacarpal if the distal interphalangeal joint of the finger is designed to be movable depending on the middle interphalangeal joint, or a finger middle-interphalangeal-joint front-movable-range angle value indicating a movable range where the middle interphalangeal joint of each finger is movable toward the metacarpal and a finger distal-interphalangeal-joint front-movable-range angle value indicating a movable range where the distal interphalangeal joint of each finger is movable toward the metacarpal if the distal interphalangeal joint of the finger is designed to be movable independently of the middle interphalangeal joint.
The ‘interactivity of fingers’ is expressed as follows:
where, IF is the calculated interactivity value among the thumb and the fingers; Wi is a weight coefficient of the ith finger previously stored in a storage as a value previously assigned to the ith finger and ranging from 0 to 1; di is a distance between the start point of the thumb and the start point of the ith finger; n is the number of thumb and fingers; n−1 is the number of fingers; θtotal is the total of movable range angle values of the joints included in the fingers controllable in the model of the robot hand structure; Lt is the length of the thumb as a value included in the received setting values; Lf is the length of the fingers as a value included in the setting values; Vi is a volume range where the thumb tip and the ith finger tip can meet; Wi+1 is a weight coefficient of the (i+1)th finger previously stored in the storage as a vale previously assigned to the (i+1)th finger adjacent to the ith finger and ranging from 0 to 1; Vii+1 is a volume range where the thumb tip, the ith finger tip and the (i+1)th finger tip adjacent to the ith finger can meet one another; and k is a compensation coefficient previously stored in the storage to adjust an effect level of Vi and Vii+1.
The calculating the interactivity values may include: calculating a finger workspace that refers to a 3D spatial range where the thumb and the fingers provided in the model are movable, wherein the calculating the workspace includes calculating a distance di between the start point of the thumb and the start point of an ith finger based on x, y and z coordinates of the start point of the thumb, the length values of the rest fingers and the angle values between the adjacent fingers with respect to the metacarpal, which are included in the received initial setting values.
The optimization algorithm may include a genetic algorithm.
The above and/or other aspects of the present invention will become apparent and more readily appreciated from the following description of the exemplary embodiments, taken in conjunction with the accompanying drawings, in which:
The following detailed descriptions of the present invention references accompanying drawings illustrating certain embodiments for realizing the present invention by way of example. These embodiments are described in detail so as to be realized by those skilled in the art. It has to be appreciated that various embodiments of the present invention are different from each other but not mutually exclusive. For example, a certain shape, a structure and features described set forth herein according to an embodiment of the present invention may be achieved by another embodiment without departing from the scope of the present invention. Further, it will be understood that the position or arrangement of the elements disclosed in to the embodiments may be modified without departing from the idea and scope of the present invention. Therefore, the following detailed descriptions are not construed as the restrictions, but limited by the appended claims and their equivalents as long as they are properly explained. In the drawings, like numerals refer to like elements.
In the description of the exemplary embodiments, an ordinal number used in terms such as a first element, a second element, etc. is employed for describing variety of elements, and the terms are used for distinguishing between one element and another element. For example, the first element may be called the second element, and vice versa without departing from the scope of the present invention. Further, a term of ‘and/or’ includes combination of a plurality of related items or one among the plurality of related items.
Further, the terms used in this specification are just for describing a certain exemplary embodiment, and not intended to limit the present invention. A singular form involves a plural form as long as it is not distinctly different from the plural form in the context. In addition, it has to be understood that terms such as “include” or “have” refer to presence of features, numbers, steps, operations, elements or combination thereof, and do not exclude presence or addition of one or more other features, numbers, steps, operations, elements or combination thereof.
All the terms set forth herein including technical or scientific words have the same meaning as those generally understood by a person having ordinary knowledge in the art to which the present invention pertains unless they are defined differently. The words generally used and defined in dictionaries have to be construed as meaning equivalent to the contextual meaning in the related art, and have to be not construed as ideal or excessively cursory meaning unless they are clearly defined.
If a certain element “includes” another element throughout the specification, it means that the certain element does not exclude another element but is opened to have another element. Further, “ . . . section”, “module” or the like refers to a unit of processing at least one function or operation, and this may be achieved by hardware, software or combination of hardware and software.
To make a person, who has ordinary knowledge in the art to which the present invention pertains, easily materialize the present invention, preferred embodiments of the present invention will be described below with reference to accompanying drawings.
First, an ‘interactivity of fingers’ used in a method of providing performance indicators of a robot hand according to an embodiment of the present invention will be described with reference to
Referring to
In more detail, if the fingers other than the thumb are extended while the length of the thumb in the robot hand model is maintained, workspaces for the respective fingers of the robot hand model are increased and therefore the performance indicators calculated by the ‘opposability of thumb’ are also increased. In this case, although the values of the performance indicators calculated by the ‘opposability of thumb’ are increased, a general shape of the robot hand model is different from a human's hand since a length of an index finger in the robot hand model is not separately taken into account. In other words, the robot hand model in this case is similar to hands of an orangutan, a chimpanzee and the like primates. That is, the robot hand models modelled by the performance indicators calculated by the ‘opposability of thumb’ cannot properly mimic a human's hand having a shape and function for accurately grasping an object.
On the other hand,
Referring to
Next, an operational system for computes the method of providing the performance indicators of the robot hand according to an embodiment of the present invention will be described in detail with reference to the following drawings.
Referring to
The input section 210 receives setting values for a model of a robot hand structure and transmits the setting values to the controller 230.
In more detail, the setting values according to an embodiment of the present invention will be described with reference to
Referring to
As shown in
On the other hand, if the fingers except the thumb have different lengths in the model of the robot hand structure, the setting values input to the input section 210 may include the length Lt of the thumb and an average length of the fingers as the finger length setting values.
As shown in
Further, as shown in
In addition, if a distal interphalangeal joint of the finger is designed to be movable independently of a middle interphalangeal joint as shown in
On the other hand, if the distal interphalangeal joint of the finger is designed to be movable depending on the middle interphalangeal joint, the joint movable range values among the setting values input to the input section 210 according to an embodiment of the present invention may include a thumb proximal-interphalangeal-joint lateral-movable-range angle value qt1 indicating a movable range where the proximal interphalangeal joint of the thumb is movable laterally (left and right) with respect to a metacarpal front in the model of the robot hand structure; a thumb proximal-interphalangeal-joint front-movable-range angle value qt2 indicating a movable range where the proximal interphalangeal joint of the thumb is movable toward the metacarpal; a thumb middle-interphalangeal-joint front-movable-range angle value qt3 indicating a movable range where the middle interphalangeal joint of the thumb is movable toward the metacarpal; a thumb distal-interphalangeal-joint front-movable-range angle value qt4 indicating a movable range where the distal interphalangeal joint of the thumb is movable toward the metacarpal; a finger proximal-interphalangeal-joint lateral-movable-range angle value q1 indicating a movable range where the proximal interphalangeal joint of each finger is movable laterally; a finger proximal-interphalangeal-joint front-movable-range angle value q2 indicating a movable range where the proximal interphalangeal joint of each finger is movable toward the metacarpal; and a finger middle and distal-interphalangeal-joint front-movable-range angle value q3 indicating a movable range where the distal interphalangeal joint and the middle interphalangeal joint of each finger are movable toward the metacarpal.
The controller 230 may control operations of the input section 210 and the storage 220.
Further, the controller 230 may include a finger workspace calculator 231, a performance indicator calculator 232 and a performance indicator processor 233.
The controller 230 may receive setting values for a model of a robot hand structure through the input section 210.
The finger workspace calculator 231 may calculate a distance di between the start point O′ of the thumb and the start point of an ith finger from the thumb start coordinates, the finger length setting values and the angle setting values of the received setting values.
In more detail, the finger workspace calculator 231 may calculate a distance di between the start point O′ of the thumb and the start point of the ith finger based on x, y and z coordinates of the thumb start point O′, the length Lt of the thumb, the lengths Lf of the rest fingers, the angle values qr between the adjacent fingers with respect to the metacarpal, which are included in the received initial setting values. Of course, the distance di may be directly input to the input section 210.
Further, the finger workspace calculator 231 may calculate a workspace, in which the thumb tip and the rest finger tips are movable, based on the initial setting value received from the input section 210 and the distance di. Furthermore, a workspace overlapped among the thumb and the fingers may be also calculated.
The performance indicator calculator 232 may calculate interactivity values among the fingers as the performance indicators by the setting values received in the input section 210 and the ‘interactivity of fingers’ with regard to the workspaces of the thumb and the rest fingers calculated by the finger workspace calculator 231. The ‘interactivity of fingers’ reflects a volume range where the thumb tip, an arbitrary finger tip, and a finger tip adjacent to the arbitrary finger tip included in the model of the robot hand structure can meet one another.
In more detail, the ‘interactivity of fingers’ according to an embodiment of the present invention is expressed as follows,
where, IF is the calculated interactivity value among the thumb and the fingers; Wi is a weight coefficient of the ith finger previously stored in the storage 220 as a value previously assigned to the ith finger and ranging from 0 to 1; di is a distance between the start point O′ of the thumb and the start point of the ith finger calculated by the finger workspace calculator 231; n is the number of thumb and fingers; n−1 is the number of fingers; θtotal is the total of movable range angle values of the joints included in the fingers controllable in the model of the robot hand structure; Lt is the length of the thumb as a value included in the received setting values; Lf is the length of the fingers as a value included in the setting values; Vi is a volume range where the thumb tip and the ith finger tip can meet; Wi+1 is a weight coefficient of the (i+1)th finger previously stored in the storage as a vale previously assigned to the (i+1)th finger adjacent to the ith finger and ranging from 0 to 1; Vii+1 is a volume range where the thumb tip, the ith finger tip and the (i+1)th finger tip adjacent to the ith finger can meet one another; and k is a compensation coefficient previously stored in the storage 220 to adjust an effect level of Vi and Vii+1.
The performance indicator processor 233 may output the performance indicators, which are calculated by the performance indicator calculator 232 as the performance indicators in the model of the robot hand structure indicated by the setting values received through the input section 210, to a display (not shown) provided in the outside of the operational system 200.
Below, the method of providing the performance indicators of the robot hand according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Referring to
Then, the controller 230 performs a step of calculating a finger workspace to calculate the distance di between the start point O′ of the thumb and the start point of the ith finger from the thumb start coordinates, the finger length setting values and the angle setting values, which are included in the setting values received in the step of receiving the setting value, and calculate the finger workspace corresponding to the movable range of each finger tip (S520).
Next, the controller 230 performs a step of calculating the performance indicators to calculate the performance indicators based on the interactivity values among the thumb and the fingers indicating the performance indicators for the model of the robot hand structure by the received setting values and the ‘interactivity of fingers’ reflecting the volume range where the thumb tip, an arbitrary finger tip and a finger tip adjacent to the arbitrary finger tip in the model of the robot hand structure can meet one another with respect to the calculated work space of the thumb tip and the finger tips (S530).
Then, the controller 230 outputs the calculated performance indicators as the performance indicators for the model of the robot hand structure indicated by the setting values received in the step of receiving the setting values (S540).
Below, the method of providing the performance indicators of the robot hand, which can provide the performance indicators with regard to the plurality of robot hand models according to an embodiment of the present invention, will be described with reference to the accompanying drawings.
Referring to
Further, X-Y refers to a range where an X finger tip and a Yfinger tip can meet each other. For example, T-I refers to a range where the thumb tip and the index finger tip can meet each other, and this refers to the performance indicators calculated by the conventional ‘opposability of thumb’ that reflects only the range where the thumb tip can meet one finger tip among the finger tips.
On the other hand, X-Y-Z refers to a range where an X finger tip, a Y finger tip and a finger tip can meet one another. For example, T-I-M refers to a range where the thumb tip, the index finger tip and the middle finger tip can meet one another, and this refers to the performance indicators calculated by the ‘interactivity of fingers’ according to an embodiment of the present invention that reflects a range where the thumb tip, an arbitrary finger tip among the finger tips and another finger tip adjacent to the arbitrary finger tip can meet one another.
Referring to
Referring to
In the foregoing method of providing the performance indicators of the robot hand according to an embodiment of the present invention is not restrictively used in determining the performance of the robot hand but applicable to other robots for grasping an object. For example, the ‘interactivity of fingers’ may be used to determine performance of grasping an object with regard to a robot having three or more manipulators corresponding to the respective fingers. That is, the performance of the robot using three or more manipulators for grasping an object can be evaluated by the foregoing ‘interactivity of fingers’ that reflects a volume range where the tips of three manipulators can meet one another.
Below, a method of optimizing a structure of a robot hand according to an embodiment of the present invention will be described with reference to
Referring to
The input section 110 may receive initial setting values for a model of a robot hand structure and transmits the initial setting values to the controller 130.
The kind and meaning of input initial setting values are the same as those described with reference to
The controller 130 may control operations of the input section 110 and the storage 120.
Further, the controller 130 may include a finger workspace calculator 131, a finger-interactivity value calculator 132, an optimization algorithm processor 133 and an optimization setting-value processor 134.
The controller 130 may receive the initial setting values for the model of the robot hand structure through the input section 110.
The finger workspace calculator 131 may calculate a distance di between the start point O′ of the thumb and the start point of the ith finger from the thumb start coordinates, the finger length setting values and the angle setting values, which are included in the received initial setting values.
In more detail, the finger workspace calculator 131 may calculate a distance di between the start point O′ of the thumb and the start point of the ith finger based on x, y and z coordinates of the thumb start point O′, the length Lt of the thumb, the lengths Lf of the rest fingers, the angle values qr between the adjacent fingers with respect to the metacarpal, which are included in the received initial setting values.
Further, the finger workspace calculator 131 may calculate a workspace, in which the thumb tip and the rest finger tips are movable, based on the initial setting value received from the input section 110 and the distance di. Furthermore, a workspace overlapped among the thumb and the fingers may be also calculated.
The finger-interactivity value calculator 132 may calculate initial interactivity values between the fingers through the ‘interactivity of fingers’ with regard to the received initial setting values. Here, the ‘interactivity of fingers’ reflects a volume range where the thumb tip, an arbitrary finger tip among the finger tips and a finger tip adjacent to the arbitrary finger tip in the model of the robot hand structure can meet one another.
In more detail, the ‘interactivity of fingers’ according to an embodiment of the present invention is as follows.
where, IF is the calculated interactivity value among the thumb and the fingers; Wi is a weight coefficient of the ith finger previously stored in the storage 120 as a value previously assigned to the ith finger and ranging from 0 to 1; di is a distance between the start point O′ of the thumb and the start point of the ith finger; n is the number of thumb and fingers; n−1 is the number of fingers; θtotal is the total of movable range angle values of the joints included in the fingers controllable in the model of the robot hand structure; Lt is the length of the thumb as a value included in the received initial setting values; Lf is the length of the fingers as a value included in the received initial setting values; Vi is a volume range where the thumb tip and the ith finger tip can meet; Wi+1 is a weight coefficient of the (i+1)th finger previously stored in the storage as a vale previously assigned to the (i+1)th finger adjacent to the ith finger and ranging from 0 to 1; Vii+1 is a volume range where the thumb tip, the ith finger tip and the (i+1)th finger tip adjacent to the ith finger can meet one another; and k is a compensation coefficient previously stored in the storage 120 to adjust an effect level of Vi and Vii+1.
The optimization algorithm processor 133 employs an optimization algorithm and the ‘interactivity of fingers’ to calculate a plurality of secondary interactivity values from the initial interactivity values calculated by the finger-interactivity value calculator 132 and the received initial setting values. For example, the optimization algorithm may be a genetic algorithm, but not limited thereto.
In more detail, the plurality of secondary interactivity values calculated by the optimization algorithm processor 133 according to an embodiment of the present invention will be described with reference to
Referring to
For example, if the genetic algorithm is used as the optimization algorithm, n interactivity values are obtained from the initial setting values and (n−1) arbitrary setting values calculated from the initial setting values. At this time, the largest value among n interactivity values is the secondary interactivity value of the first generation. Next, excellent parent sets having an excellent value among n interactivity values are extracted, and crossed with each other to generate a child set. Again, the largest value between the parent set and the child set is the secondary interactivity value of the second generation. Once again, the excellent parent sets of the next generation having an excellent value are extracted and crossed with each other to generate a child set. Further, these processes are repeated.
Throughout a plurality of generations, the secondary interactivity values (1st to 7th) different from one another are obtained. At this time, the secondary interactivity values (1st to 7th) different from one another are obtained throughout the plurality of generations, but the secondary interactivity values calculated by the optimization algorithm processor 133 are not different any more throughout a predetermined number of generations (7th to 10th) and converge upon one value (8.6506×10−4) as shown in
The optimization setting-value processor 134 determines whether the secondary interactivity values having one value are calculated more than a reference number of times previously stored in the storage 120 when the optimization algorithm processor 133 calculates the plurality of secondary interactivity values.
If it is determined that the secondary interactivity values are calculate more than the reference number of times, the optimization setting-value processor 134 extracts the maximum secondary interactivity value having the largest value among the plurality of secondary interactivity values calculated by the optimization algorithm processor 133.
Then, the optimization setting-value processor 134 may output the setting values of the extracted maximum interactivity value as the optimized setting value for the model of the robot hand structure corresponding to the initial setting values received through the input section 110 to the display (not shown) provided on the outside of the operational system 100.
Further, the optimization setting-value processor 134 may employ the ‘interactivity of fingers’ and the optimization algorithm used in the optimization algorithm processor 133 to extract the setting values of the extracted maximum secondary interactivity value.
In more detail, the optimized setting values output from the optimization setting-value processor 134 according to an embodiment of the present invention will be described with reference to
The optimization setting-value processor 134 according to an embodiment of the present invention extracts the setting values of the maximum secondary interactivity value and outputs them as the setting values optimized for the performance with respect to the setting values received through the input section 110.
Referring to
Below, the method of optimizing the structure of the robot hand according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Referring to
Then, the controller 130 performs a step of calculating the interactivity value to calculate the initial interactivity values for the thumb and the fingers provided in the model of the robot hand structure through the ‘interactivity of fingers’ with respect to the received initial setting values (S420).
Further, the step of calculating the interactivity value performed in the controller 130 may further include a step of calculating a finger workspace to calculate the finger workspace that refers to a 3D spatial range where the thumb and the fingers provided in the model of the robot hand structure corresponding to the initial setting values received in the step of receiving the initial setting value are movable.
In more detail, the controller 130 may perform a step of calculating the finger workspace to calculate a distance di between the start point O′ of the thumb and the start point of the ith finger based on the thumb start coordinates, the finger length setting values and the angle setting values, which are involved in the initial setting values received through the step of receiving the initial setting value.
Then, the controller 130 may perform a step of implementing an optimization algorithm to calculate the plurality of secondary interactivity values from the initial interactivity values calculated in the step of calculating the interactivity values and the initial setting values received in the step of receiving the initial setting value through the optimization algorithm and the ‘interactivity of fingers’ (S430).
Then, the controller 130 may determine whether the secondary interactivity values having one value are calculated more than a reference number of times previously stored in the storage 120 when the plurality of secondary interactivity values is calculated in the step of implementing the optimization algorithm (S440).
If it is determined that the secondary interactivity values having one value are calculate more than the reference number of times, the controller 130 extracts the maximum secondary interactivity value having the largest value among the plurality of secondary interactivity values calculated in the step of implementing the optimization algorithm, and outputs the setting values of the extracted maximum interactivity value as the setting value optimized for the model of the robot hand structure corresponding to the received setting values (S450).
According to an embodiment of the present invention, there is provided a method of providing performance indicators of a robot hand, in which a developer who designs the structure of the robot hand can receive objective performance indicators for the designed robot hand, and thus easily design the structure of the robot hand more excellent in performance than the conventional structure of the robot hand designed based on a developer's experience and inspiration.
Further, the method of providing the performance indicators of the robot hand according to an embodiment of the present invention provides objective performance indicators calculated based on essential factors required when designing the structure of the robot hand.
Further, the method of providing the performance indicators of the robot hand according to an embodiment of the present invention calculates and provides the performance indicators for determining each performance with respect to the lengths of the thumb and the fingers of the robot hand, the start point of the thumb, the motion angle of the thumb, etc.
Further, the method of providing the performance indicators of the robot hand according to an embodiment of the present invention provides objective performance indicators that serve as comparison criteria when the robot hands having different structures are compared with respect to the performance
According to an embodiment of the present invention, there is provided a method of optimizing the structure of the robot hand, in which values corresponding to essential factors required when designing the structure of the robot hand are given as objective values calculated based on a genetic algorithm.
With the method of optimizing the structure of the robot hand according to an embodiment of the present invention, a developer who designs the structure of the robot hand can receive objective design criteria, and thus easily design the structure of the robot hand more excellent in shape-mimicking than the conventional structure of the robot hand designed based on a developer's experience and inspiration.
Further, the method of optimizing the structure of the robot hand according to an embodiment of the present invention calculates and provides the objective design criteria with respect to the lengths of the thumb and the fingers of the robot hand, the start point of the thumb, the motion angle of the thumb, etc.
Further, the method of optimizing the structure of the robot hand according to an embodiment of the present invention can systematically calculate and provide a position of a saddle joint, i.e. the start point of the thumb and an orientation of the thumb.
Although a few exemplary embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10-2015-0046181 | Apr 2015 | KR | national |
| 10-2015-0046185 | Apr 2015 | KR | national |
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| 9321176 | Sun | Apr 2016 | B1 |
| 20060199167 | Yang | Sep 2006 | A1 |
| 20070078564 | Hoshino | Apr 2007 | A1 |
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| 10-1048762 | Jul 2011 | KR |
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| Number | Date | Country | |
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| 20160292350 A1 | Oct 2016 | US |
