2414results about "Arms" patented technology

The embodiment of the invention provides an unhooking robot control method based on multi-source visual fusion, which is applied to the technical field of robot control and comprises the following steps: acquiring an RGB image, a depth image, an infrared image and IMU data through a multi-source sensing system mounted at the tail end of a robot; carrying out feature fusion identification by adopting a double-branch neural network, and outputting the boundary contour of the lifting hook and the three-dimensional coordinates of the optimal grabbing point; the visual coordinates are unified to a robot base coordinate system through a registration correction mechanism; a Transform prediction model is constructed based on the visual and inertial signals, and future pose changes of the lifting hook are estimated; a feedforward control track is generated to counteract swing of the lifting hook, and track correction is carried out in combination with visual servo feedback; and a joint instruction is generated through path planning and inverse kinematics solution, and the mechanical arm is driven to complete precise unhooking operation. According to the method, the recognition precision, the anti-interference capability and the operation success rate of unhooking operation in complex illumination and dynamic environments are effectively improved.

The invention relates to the technical field of intelligent mechanical arm control, and discloses a mechanical arm track optimization method and system based on deep learning and a fuzzy algorithm, and the method comprises the steps: building a kinematic model of a mechanical arm, determining the working space of the mechanical arm, carrying out the high-density random sampling, and generating a three-dimensional point cloud picture of a reachable region at the tail end of the mechanical arm; constructing a path planning model, designing a state space and an action space, and constructing a reward function; time-impact double-target optimization is carried out on the tail end path point sequence, a smooth joint trajectory is constructed, and balance between the shortest trajectory execution time and the minimum joint impact is achieved on the premise that speed and acceleration constraints are met; and tracking control is carried out on the trajectory, external disturbance and unmodeled dynamics are estimated and compensated in real time, a parameter adaptive law is designed, and the trajectory tracking precision of the system in a complex environment is improved. The autonomy, the accuracy and the anti-interference capability of the hot-line work mechanical arm in a complex environment are improved.

The invention provides a dynamic obstacle avoidance path planning control method for a redundant mechanical arm, which adopts a self-adaptive artificial potential field dynamic obstacle avoidance algorithm based on a second-order dynamic control barrier function. The problems that a traditional artificial potential field method cannot reach a target, is prone to falling into a local minimum value and cannot effectively deal with a dynamic obstacle are solved. The efficient and safe obstacle avoidance of the mechanical arm in a dynamic complex environment is realized by constructing a self-adaptive velocity repulsion field and a virtual obstacle model, combining a high-order dynamic control barrier function as a safety constraint and utilizing a quadratic programming optimization algorithm. Experimental results show that the method can effectively guide the mechanical arm to escape from the local minimum point, the target point can be reached, meanwhile, the safe distance between the mechanical arm and a dynamic obstacle is guaranteed, the movement efficiency and track quality of the mechanical arm are remarkably improved, and the real-time performance and safety requirements of a dynamic obstacle avoidance task are met.

Various advanced wiring assemblies for a humanoid robot are disclosed. The wiring assembly includes a first actuator printed circuit board (PCB) positioned near a first side of a first actuator and including a first PCB terminal. A second side of the first actuator includes: an output, an actuator cover coupled to the output and having a wire bundle opening formed therein, and an actuator opening formed through an extent of the second side. The wiring assembly includes a wire bundle having: a first end connector coupled to the first PCB terminal, a second end connector coupled to the second PCB terminal, and a plurality of wires that extend between the first end connector and the second end connector, and wherein said plurality of wires extends through the actuator opening of the second side of the first actuator and the wire bundle opening formed in the actuator cover.

The invention belongs to the technical field of robot control, and provides a robot self-adaptive task planning and action adjusting method and system, and the method comprises the steps: responding to a task instruction, and calibrating the motion parameters of a mechanical arm of a robot; acquiring a state vector according to a set frequency, determining whether visual abnormality or motion abnormality exists or not according to a continuous change condition of the state vector, and generating an abnormality mark if the visual abnormality or motion abnormality exists; performing action correction in response to the abnormal mark or the task failure mark, performing cross-modal fusion on the current state vector and the semantic vector of the task instruction, generating a candidate action sequence based on the fused feature and task target, and considering the compatibility of the candidate action and the current environment, the residual step number of the action queue and the task failure mark. An optimal action is screened out, and then an action adjusting instruction is generated; and continuously obtaining the state vector and the action correction process until the robot completes the task instruction. The environment adaptability and the execution success rate of the robot in a complex scene can be improved.

The invention discloses a constraint following control method of a two-arm collaborative robot based on differential homeomorphic mapping, and relates to the field of robot control. According to the method, a nominal dynamical model of a robot is established, and a geometric constraint equation is defined according to a cooperative task; establishing global differential homeomorphic mapping by constructing constraint tracking variables and complementary coordinates, and decoupling a system dynamics model into a constraint tracking subsystem and a complementary subsystem; designing a robust adaptive controller fusing sliding mode control and an adaptive law, and estimating and compensating the uncertainty of the system on line; according to the method, the constraint processing complexity is effectively simplified through differential homeomorphic mapping, the constraint tracking precision and robustness of the system under model uncertainty and external interference are remarkably improved, and high-precision and high-stability cooperative task execution of the two-arm robot in the dynamic environment is achieved.

The embodiment of the invention provides a multi-arm robot, an operation method and device of the multi-arm robot, a storage medium and a program product, and the method comprises the steps that according to the contact type between an end effector of each mechanical arm of the multi-arm robot and a target object, the grabbing corresponding relation between the force applied by each end effector and the force borne by the target object is determined; on the basis of the grabbing corresponding relation and at least one force constraint condition, the feasible force solution space of an end effector of each mechanical arm is obtained through solving; and force application values of the end executors of the corresponding mechanical arms are determined from the feasible force solution spaces of the end executors of the mechanical arms, and the force application values of the end executors of the mechanical arms are used for controlling the corresponding mechanical arms to operate the target object. According to the embodiment, the force constraint strategy of the mechanical arm can be adaptively adjusted according to different contact types, so that the force application value of the end effector of the mechanical arm is suitable for force constraint requirements of different contact types, and the operation stability and flexibility are improved.

The utility model discloses a snake bone joint, a flexible joint assembly and a surgical operation arm, relates to the technical field of medical instruments, and aims to relieve the problem that two snake bones slide in an uncertain dislocation mode when the snake bone joint is bent. The snake bone joint comprises a first snake bone and a second snake bone, the first snake bone and the second snake bone can rotate based on respective pivots, the two pivots are parallel, and the distance between the two pivots is constant; the first snake bone comprises a restraint roller, the second snake bone comprises a restraint hole site, and the restraint roller is movably arranged in the restraint hole site; the restraining hole site comprises a first restraining face and a second restraining face which are oppositely arranged, and the restraining roller arranged in the restraining hole site is clamped between the first restraining face and the second restraining face. Therefore, the snake bone joint has the advantage that the bending precision and the load deformation resistance of the snake bone joint are improved.

The invention relates to the technical field of mechanical arm control, in particular to a flexible mechanical arm control system which comprises a flexible mechanical arm body, a driving unit, a driving state sensing unit, an upper computer controller and an intelligent controller. The flexible mechanical arm body is formed by connecting a plurality of flexible cavity muscles and a plurality of connecting modules in series, and the clamping mechanism is installed at the front end of the flexible mechanical arm body; the driving unit is used for driving the flexible joint of the mechanical arm to move and deform by adjusting the air pressure and driving the clamping mechanism to act by adjusting the air pressure; the driving state sensing unit comprises a shape sensing unit, a tail end pose sensor and a driving state sensor; high-precision reconstruction of the full state of the mechanical arm is achieved, an intelligent control algorithm is combined, accurate trajectory tracking and point position control can be achieved, closed-loop control can be achieved only through a body sensor without depending on external visual equipment, and the applicability and reliability of different scenes are improved.

The invention discloses a cooperative control method and system for combined optimization of an AGV and a manipulator, and the method comprises the steps: carrying out the unified modeling of the motion freedom degree of the AGV as the freedom degree of a base of the manipulator, and introducing environment constraints, and forming a combined control model; adopting a preset optimization method and introducing a joint optimization objective function to optimize the joint control model; in the operation process of the automatic guided vehicle and the manipulator, motion data of the automatic guided vehicle are collected in real time, posture change data of the automatic guided vehicle in a preset time window are predicted, and feedforward compensation control is conducted on the track of the manipulator according to a prediction result; and when the trajectory error or the motion singularity of the manipulator end effector exceeds a preset threshold value, the automatic guided vehicle executes active compensation pose adjustment to cooperate with the manipulator to complete the operation task. According to the invention, real-time adaptive optimization control of a dynamic environment and an unstructured operation scene can be realized by combining dynamic environment prediction, flexible force feedback and adaptive tail end rigidity adjustment.

The invention discloses a multi-modal robot control method and system based on space-time fusion and a liquid neural network. The method comprises the following steps: collecting asynchronous time sequence data of a multi-source heterogeneous sensor, and establishing a unified reference clock and time grid; through a neural phase-locked loop and soft-DTW, learnable synchronization is realized, and an alignment sequence, confidence and a residual error are output; after modal feature coding, fusion features are formed through confidence-gated layered space-time cross attention; a nominal control instruction is generated by the liquid neural network of the self-adaptive time constant; and the command is optimized and corrected in combination with CLF / CBF and QP, and a safe and feasible control command is output. According to the method, uncertainty caused by asynchronization, shielding and the like is effectively inhibited, the path deviation and the collision rate are remarkably reduced, and high precision, high robustness and provable safety are kept in a dynamic unstructured environment.

The utility model discloses an automatic egg picking robot which comprises a walking mechanism, a mechanical arm, an egg picking mechanism, an egg picking mechanism, an egg picking mechanism and an egg picking mechanism. The picking clamp comprises a cleaning part and an egg picking part; the image recognition mechanism comprises a processor and an image collector, and the image collector is connected with the processor; wherein the egg picking component and the sweeping component are arranged at the mounting end part of the mechanical arm, and the image collector is arranged on the mechanical arm; the processor is configured to control the sweeping component and the egg picking component to act according to image information collected by the image collector. Full automation of the process of picking up the duck eggs laid by the flat-fed breeding ducks is achieved, the labor intensity of workers is remarkably reduced, the working efficiency is improved, meanwhile, it is guaranteed that the egg laying environment is quiet and neat, and continuous production of the breeding ducks is facilitated.

A continuum manipulator that comprises an assembly of ‘vertebra’-like modules fabricated using two curved links and twelve strings and actuated using Motor-Tendon Actuators. The modules being modeled as tensegrity structures having a polyhedron shape. The vertices and edges of the tensegrity structure polyhedron correspond to the holes and strings or links of the structure. Furthermore, a mobile continuum manipulator that includes a control unit and wheels or mobile legs.

The invention discloses an underwater multi-mode mobile robot equipped with a flexible bionic gripper, which integrates three operation modes of propeller propulsion, six-foot crawling and target object grabbing, and realizes'movement-attachment-operation 'integrated collaboration. The robot main body adopts a five-thruster vector layout and has a five-degree-of-freedom motion capability; and six groups of three-degree-of-freedom mechanical feet and two groups of three-degree-of-freedom mechanical arms are arranged outside, and a cruising mode, a crawling mode or a grabbing mode can be automatically switched according to tasks. A coordination dual-network hydrogel bionic sucker and a flexible gripper are integrated at the foot end and the arm end, and controllable adsorption and desorption are achieved through a diaphragm pump. The control system generates a rhythm signal based on the central mode generator, and coordinates multi-module actions of paddles, legs and arms in combination with inverse kinematics solution. The robot is suitable for tasks such as wide water area cruising, complex terrain exploration, environment maintenance and seabed sampling, has high maneuverability and high integration degree, and provides an innovative platform for underwater fine operation.

The invention relates to the field of industrial robot control, in particular to a trajectory planning method for a self-adaptive vibration suppression mechanical arm. According to the method, a mechanical arm motion vibration signal is monitored in real time through a vibration sensor, and original data are preprocessed to obtain a cleaning vibration signal; calculating vibration characteristic parameters including frequency, amplitude and phase; based on a reinforcement learning algorithm, a reference trajectory is dynamically adjusted through a strategy network according to the vibration characteristic parameters to generate a vibration suppression trajectory, and a reward function takes the vibration parameters as input optimization network parameters; and finally, the vibration suppression track is converted into a joint movement instruction to drive the mechanical arm, and closed-loop control is formed. According to the self-adaptive vibration suppression method, self-adaptive vibration suppression independent of an accurate model is achieved, and the motion precision and stability of the mechanical arm under different working conditions are improved.

The invention discloses a hydraulic drive double-joint flexible mechanical arm structure. The mechanical arm mainly structurally comprises a mechanical arm body formed by connecting two sets of flexible joint modules in series, each set of joint module comprises three silica gel flexible actuators which are evenly distributed on the circumference, the two ends of each actuator are detachably connected with a supporting disc through a cross beam structure, and sealing rings are arranged at the connecting positions for sealing. The driving system drives the actuators to stretch out and draw back in the axial direction by independently controlling the internal water pressure of the actuators so as to achieve multi-degree-of-freedom movement. In order to restrain radial expansion caused by water pressure, the executors are sleeved with chinlon woven sleeves to serve as restraint layers, and limiting piece structures are arranged between the executors. Through the modular series design and the optimized water pressure driving and radial constraint structure, the adaptability, the movement performance, the sealing reliability and the anti-interference capacity of the mechanical arm are effectively improved, and the mechanical arm is suitable for operation in complex environments such as underwater environments.

Apparatuses, systems, and techniques to perform a grasp of on object using an articulated robotic hand equipped with one or more tactile sensors. In at least one embodiment, a machine-learned model trained in simulation to grasp a cuboid using signals received from tactile sensors is applied to grasping objects of various shapes in a real-world environment.

A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.

An intelligent campus logistics cooperation robot based on vehicle-vehicle-arm integration comprises an autonomous navigation and obstacle avoidance system which uses a laser radar and a pan-tilt camera to carry out non-graph path planning and obstacle avoidance on the robot and transmits data to a control and communication system. The control and communication system controls the unmanned aerial vehicle to take off and starts the unmanned aerial vehicle auxiliary scanning system, and the unmanned aerial vehicle auxiliary scanning system performs laser and image scanning and transmits unmanned aerial vehicle auxiliary scanning data to the control and communication system; the control and communication system calculates specific places where garbage cleaning, foreign matter checking and emergencies need to be carried out according to scanning data in combination with the autonomous navigation and obstacle avoidance system, so that the robot arrives at a designated position in an autonomous obstacle avoidance mode. And the mechanical arm grabbing and carrying system is controlled, and a camera and a laser radar arranged on the mechanical arm are used for grabbing and cleaning obstacles. The problem that an existing image obstacle avoidance technology is insufficient in stability and reliability in a campus environment is solved.

The invention discloses a decoupling motion control method and system for a four-footed mobile operation robot considering the acting force of a mechanical arm, and belongs to the field of motion control of foot type mobile operation robots. An expected motion track input by a user can be tracked by performing planning through linear model prediction control MPC; on the basis of the tracked motion trail, mechanical arm joint control torque is calculated through a mechanical arm dynamic model and PD feedback; through nonlinear model predictive control NMPC planning, a quadruped robot whole-body motion trail of mechanical arm acting force obtained through calculation according to a mechanical arm dynamic model is considered, and an expected speed trail and an expected force trail input by a tracking user are obtained; and according to an expected speed trajectory and an expected force trajectory input by a tracking user, a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque for tracking the expected trajectory according to task priorities. According to the method, the acting force / torque of the mechanical arm to the robot body is considered during motion control of the quadruped robot, and decoupling control over the mechanical arm and the quadruped robot in the quadruped mobile operation robot is achieved.

The invention relates to the technical field of transformer substation intelligent inspection, and discloses a transformer substation automatic inspection device and method.The transformer substation automatic inspection device comprises an inspection robot, a transmission mechanism is movably connected to the inspection robot, a negative pressure adsorption device and a mechanical arm are rotationally connected to the top of the transmission mechanism, and an actuator is rotationally connected to the mechanical arm; an adsorption hose is fixedly connected to the top of the negative pressure adsorption device, the actuator comprises a shell plate, a cleaning brush is fixedly connected to the shell plate, an adsorption cavity is formed in the shell plate, the adsorption cavity is formed in the bottom of the cleaning brush, and a mechanical claw is fixedly connected to the bottom of the shell plate; the inspection robot is provided with an information acquisition module, a model identification module, an upper computer communication module, a dynamic task scheduling module, a multi-source data fusion module and a closed loop verification module; according to the device, air-ground collaborative operation is realized through an intelligent closed-loop inspection process, so that the response time from abnormality discovery to accurate confirmation is greatly shortened, and the accuracy and reliability of defect identification are remarkably improved.

A hybrid drive omni-directional motion actuator based on an origami structure, comprising at least one actuating module. The actuating module comprises a columnar shell deforming based on the origami structure, an upper cover plate and a lower cover plate. The columnar shell is the origami structure derived from Waterbomb crease, and a cavity containing gas is formed inside the shell. The two ends of the cavity are open, and the openings are respectively connected with the upper cover plate and the lower cover plate for blocking the openings. The lower cover plate is provided with vent holes communicating with the cavity, and the upper cover plate and the lower cover plate are pulled by driving ropes arranged in a crossed manner. Through the cooperation of gas and tendon drive, the columnar shell can have deformations of contraction, bending and torsion, so that a single actuating module has omni-directional movement capability.

The embodiment of the invention provides an equipment remote operation method, a remote operation mechanical arm and a robot system, and relates to the field of equipment control. The method comprises the steps that in response to main mode switching operation of a user, the main mode of the teleoperation mechanical arm is switched into a first main mode, and the first main mode is any one of a remote control mode, a standby mode and an automatic mode; under the condition that the master mode of the teleoperation mechanical arm is the remote control mode, in response to sub-mode switching operation of a user, a remote control sub-mode of the teleoperation mechanical arm in the remote control mode is switched into a first sub-mode, and the remote control sub-mode comprises a clutch sub-mode and a master-slave mapping sub-mode; and under the condition that the remote control sub-mode is the master-slave mapping sub-mode, in response to a first moving operation of a user on the teleoperation mechanical arm, a corresponding control instruction is sent to the slave equipment, so that the slave equipment executes a moving operation corresponding to the first moving operation. According to the method provided by the invention, the flexibility of equipment remote operation is improved.

A robot includes a hand motor configured to independently rotate a first hand and a second hand around a hand axis along a vertical orientation. The hand motor includes: a first output shaft fixed to the first hand; a first stator configured to apply a rotating magnetic field on the first output shaft in the arm link; a second output shaft extending through the first output shaft and fixed to the second hand; a second stator configured to apply a rotating magnetic field on the second output shaft in the arm link; a first bearing held by the arm link and holding the first output shaft or the second output shaft; and a second bearing held by the second output shaft between an outer periphery of the second output shaft and an inner periphery of the first output shaft.

The utility model provides an executive device for adsorbing materials and an intelligent robot, the executive device comprises a base and an adsorption assembly, an assembly shaft is arranged on the base in a protruding mode, and the assembly shaft is used for being connected with the tail end of a mechanical arm; the adsorption assembly is arranged on the base in a lifting mode, the adsorption assembly is provided with a working position which moves downwards by a preset distance to suck or release materials, and the adsorption assembly is provided with an initial position which moves upwards by a preset distance to retract; the number of the adsorption assemblies is multiple, and the multiple adsorption assemblies are arranged on the base at intervals. The mechanical arm solves the problems that in the prior art, a tail end executing device of a mechanical arm is low in material carrying efficiency and single in adsorption.

The embodiment of the invention provides a robot, an operation method and device of the robot, a storage medium and a program product. The method comprises the steps that sensing force data of a mechanical arm is received; the external force and the internal force are distributed based on the sensing force data of each mechanical arm in the at least two mechanical arms, so that the corresponding sensing external force and sensing internal force of each mechanical arm are determined; based on the sensing external force and the sensing internal force corresponding to each mechanical arm, the expected external force and the expected internal force of the target object and the expected position of the target object, calculating the force and the position so as to determine the expected position of each mechanical arm; and according to the expected position of each mechanical arm, inverse kinematics solution based on whole-body control is carried out on the robot, so that the joint positions of each mechanical arm and each joint in the waist are determined, and each mechanical arm is controlled to operate the target object based on the joint positions. According to the embodiment of the invention, a multi-arm force control framework based on whole-body control is constructed, the force control effect is good, and the operation stability of the robot can be improved.

The invention discloses a tool switching device and a tool switching method, and belongs to the technical field of robots. The tool switching device comprises a mechanical arm, a tool mechanism, a base and an electric control assembly. A first magnetic joint is arranged at the tail end of the mechanical arm; the tool mechanism comprises a tool body, a second magnetic connector and a third magnetic connector, wherein the second magnetic connector and the third magnetic connector are arranged on the two sides of the tool body respectively and electrically connected with the tool body. A fourth magnetic connector is arranged at the top end of the base; the electric control assembly is electrically connected with the first magnetic suction connector and the fourth magnetic suction connector. Wherein the first magnetic suction joint can be in magnetic suction butt joint with the second magnetic suction joint to realize electric connection, and the third magnetic suction joint can be in magnetic suction butt joint with the fourth magnetic suction joint to realize electric connection. By means of the design of magnetic attraction butt joint and connectors on the two sides of the tool mechanism, uninterruptible power switching of the tool between the mechanical arm and the base can be achieved, the connecting speed, precision and reliability during switching can be improved, and online maintenance, state keeping and plug and play of the tool mechanism can be achieved.

The invention relates to a force control-based weld joint ultrasonic detection method for a pressure container, and solves the technical problem of how to improve the precision, stability and reliability of defect detection of a weld joint of the pressure container by a mechanical arm driving an ultrasonic probe. A zero drift value of a six-dimensional force sensor and gravity components of an ultrasonic probe in six dimensions are calculated, then actual contact force and actual contact torque are calculated, the actual contact force is input into an impedance control module, force position control of a mechanical arm is achieved, cooperative compliant control over the contact force and the pose of the probe is achieved, and the mechanical arm is controlled. And the detection stability and reliability of the surface and internal defects of the welding seam are obviously improved.