Attitude control of shockwave robot based on time-of-flight sensor
In the service industry involving massage and health preservation,as well as the field of physical therapy for muscle strains,replacing manual labor with robotic arms can not only free up manpower,but also control the posture of physical therapy equipment more systematically and accurately.Shock wave therapy requires contact with the human body surface and operates in a certain posture,such as normal direction,and it is a major difficulty to control the robot posture to work from the normal direction of human body at all the times.The posture control of shock wave robot based on time-of-flight sensors was proposed,ranged sensor array with multiple VL6180X sensors was mounted on the end of the robot arm,and the distance from the robot to the human surface was measured to obtain the human surface position information.Based on this information,a human surface model was constructed in real time using the least squares method to control the robot posture and perform physiotherapy massage on the human body from the normal direction.
VL6180X range sensor arrayArduino UNO microcontrollerleast squares methodrobotic arm posture control
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