48results about How to "Avoid reaching" patented technology

The invention relates to an authentication method, a base station, user equipment and core network elements. The authentication method includes: the base station receives the first message sent by the user equipment, the first message includes uplink data, the user equipment identifier and the first authentication result; sends an authentication request message to the network element of the core network, the authentication request message includes the user The device identifier or the group identifier of the group to which the user equipment belongs or the cell identifier of the cell to which the user equipment belongs; receiving an authentication response message sent by the network element of the core network, where the authentication response message includes a second authentication result, and the second authentication The result is the authentication result calculated by the network element of the core network according to the authentication request message; comparing the first authentication result and the second authentication result, if they are the same, sending uplink data to the network element of the core network. The security verification of the user equipment by the base station prevents the data of the illegal UE from reaching the network elements of the core network, improves security, and saves transmission resources compared with the prior art.

The present invention provides a singularity avoidance method and device in the process of force-controlled traction of a robot. The method includes: calculating the operability index of the target robot in real time; determining whether the target robot is close to a singular configuration according to the operability index; When the target robot is close to the singular configuration, the constraint force is calculated based on the operability index, and an additional constraint force is applied to the target robot through the driver, so that the target robot can continue to move away from the singular configuration under the action of the constraint force. This method can effectively prevent the robot from reaching the singular configuration, so that the process of force-controlled traction can be carried out continuously, which improves the operation experience of force-controlled traction, improves the operation efficiency of force-controlled traction, and alleviates the difficulty of force-controlled traction for existing robots. During the traction process, the robot alarms and shuts down due to the operator pulling the robot into a singular configuration, resulting in low efficiency of the force-controlled traction operation and poor operating experience.