| abstract |
The invention provides a control method and system for collecting soft tissue secretions based on a robotic arm. The method includes: using a stereo vision matching algorithm to obtain an area to be extracted, using a threshold segmentation algorithm to obtain the specific location of the target detection area; Flexible tactile sensors in different orientations to realize contact force vector acquisition; use fuzzy control algorithm combined with PID force-displacement control to achieve stable contact control of soft tissue during the process of collecting secretions at the end of the mobile robotic arm, and maintain contact during the period Stability of pressure. By implementing the embodiment of the present invention, the combination of stereo vision and multi-dimensional touch realizes controlling the robotic arm to extract oral soft tissue secretions, which improves the safety, reliability, automation and intelligence of oral soft tissue secretion extraction. |