59results about How to "Continuous speed" patented technology

The invention relates to a motion track planning method in an operation space of a heavy-duty industrial robot, which relates to a planning method of a robot motion track. In order to solve the problem of discontinuous acceleration at the start point and end point of the multi-point spline in space in the existing heavy-duty robot motion planning method, the present invention does not realize the smoothness of the motion command; and the existing heavy-duty robot motion planning does not realize the optimal time , the best compromise between the optimal energy consumption. Technical points: This method corrects the traditional cubic spline through additional items. Make it keep continuous in speed and acceleration in the whole process. At the same time, comprehensively considering the optimal problem of time and energy consumption, based on the dynamic model, the energy consumption and execution time of the system are selected as the optimization target, and the speed, torque, and jerk are used as the constraint conditions. A multi-objective optimization model is established, and the NSGA2 non-dominated genetic algorithm is used for Optimize the model solution. It is suitable for off-line calculation processes such as trajectory planning and motion planning of heavy-duty industrial robots.

The invention discloses an error-controllable industrial robot fairing movement track generation method which comprises the following steps: S1, generating an MOVEB movement instruction, describing an industrial robot movement track which comprises a track point and posture, a track point error threshold input by a user, and a chord height error threshold; S2, performing interpolation on a robot track point, namely performing interpolation on a high-order B sample curve into the track point according to the track point error and the chord height error threshold by using the high-order B sample interpolation algorithm, and respectively achieving G2 interpolation and G3 interpolation of the robot track point, so as to obtain an interpolation track which has high continuity and meets the track point error and chord height error requirements; S3, performing interpolation on the posture of the robot so as to obtain a robot posture curve with sectional G2 and continuous G3; S4, acquiring a movement track of the robot after interpolation according to the track point interpolation curve and the robot posture curve. By adopting the error-controllable industrial robot fairing movement track generation method, real-time continuous interpolation of the movement track can be achieved, calculation can be simple, efficient and precise, and vibration and abrasion of the robot can be reduced.

The invention discloses an NURBS (Non-Uniform Rational B-Spline) interpolation method based on machine tool dynamics and curve characteristics, which adopts a constraint equation ZHYS considering integrative factors of machine tooling for controlling the feeding speed and the acceleration of the interpolation algorithm. The method consists of three links: pre-interpolation, prospective information processing and real-time interpolation, and comprises the following steps of: carrying out trigonometric function speed smoothing processing according to the corresponding speed mode; storing corresponding data after the trigonometric function speed smoothing processing; adopting the trigonometric function speed smoothing processing according to prospective information if entering an acceleration-deceleration region; and adopting a speed self-adapting method for calculation if not entering the acceleration-deceleration region, thus finally obtaining the coordinates and the feeding speed of interpolation points. The method of the invention has the advantages that the interpolation is always in the safe range of a machine tool, the whole interpolation movement process is smooth and stable through the trigonometric function speed smoothing processing, in addition, the tangential acceleration and the continuity of the tangential acceleration in the speed change region can be ensured, and the NURBS interpolation method has the important significance on the development of a high-speed and high-precision numerical control system.

The invention provides a trajectory planning method for double-robot coordinative assembling based on a spline curve B, and belongs to the field of trajectory planning. According to the method, a task module, a master-slave robot joint trajectory planning module, an obstacle avoidance strategy module, a multi-objective optimization module and an industrial robot driver are included. According to the master-slave robot joint trajectory planning module, the joint trajectory planning method for double-robot coordinative assembling based on the spline curve B and a coordinative assembling error compensating method are invented; according to the obstacle avoidance strategy module, a double-robot deep search obstacle avoidance strategy is invented; according to the multi-objective optimization module, a multi-objective planning method for solving the kinematic constraint conditions that robot coordinative assembling has little time and the assembling track is smooth based on a swarm intelligence algorithm is invented. According to the technical scheme, the double-robot coordinative assembling track which is short in assembling short, smooth in assembling section joint track and free of interference and successfully avoiding obstacles can be obtained, cost is reduced, and damage to assembled parts is avoided.

The scheme relates to the field of motion control and especially relates to the robot motion track planning technology. In a robot motion track planning method, feature points of a degree n cubic Bezier curve are determined according to a first CP motion track section and a second CP motion track section, and n is not less than 4 (401); the degree n cubic Bezier curve is constructed according to the above feature points and serves as a smooth transition track section between the first CP motion track section and the second CP motion track section (402). The degree n cubic Bezier curve is adopted to serve as the smooth transition track section between the two CP motion track sections, the smooth transition track section is tangent to the first CP motion track section at an initial point ofthe smooth transition track section with the same curvature, the smooth transition track section is tangent to the second CP motion track section at a termination point of the smooth transition tracksection with the same curvature, so that serial CP motion smooth transition can be realized, in addition, the speed has no need to be reduce to 0, and the acceleration does not jump.

The invention discloses a transformer substation live washing auxiliary washing robot and a method. A mechanical body comprises a chassis. The chassis is fixed to a walking mechanism. A shell is fixed to the chassis. A perpendicular lifting mechanism is fixed to the chassis. An organ box hood is arranged on the periphery of the outer side of the perpendicular lifting mechanism. A vehicle-mounted controller is installed in the organ box hood. Insulation supporting columns are fixed to the perpendicular lifting mechanism. An electric control box is fixed to the upper ends of the insulation supporting columns and controls a water gun washing mechanism installed on the electric control box. A power assembly is installed in the shell and provides a power source for the walking mechanism and the perpendicular lifting mechanism. The vehicle-mounted controller is matched with a remote control system. The remote control system drives the perpendicular lifting mechanism and the water gun washing mechanism to work in a remote control manner. Transformer substation insulator washing operation can be finished through the robot instead of manual work, the safety of an operator is guaranteed, the labor intensity is relieved, washing efficiency is improved, the automation level is increased, and the positive revolutionary effect on the washing operation manner of transformer substations in China is achieved.

A stable, continuous, high-speed roll film media path is established between supply and take-up film reels. Supply and take-up path segments isolate a core transport path section from significant non-linear forces, thereby enabling continuous, high-speed, high-accuracy scan line imaging of the media. The supply and take-up path segments each operate to continuously maintain open decoupling loops in the film media while accurately controlling the speed, tension and alignment of the film media as transported through the core transport path section. A microcontroller operates two motor driven capstans to establish the film media speed and tension within the core transport path section. Optical sensors provide feedback to the microcontroller in managing two additional motor driven capstans to maintain the decoupling loops. The film media within the core transport path section is thereby isolated from frictive, inertial, and skewing forces that could otherwise degrade the media imaging.

The invention discloses a robot NURBS track interpolation method. The method comprises the following steps: 1) obtaining three-dimensional coordinates and a rotation vector of a data point by using arobot; 2) fitting the data points by utilizing a cubic B spline curve to generate a track c (u); 3) sampling the parameter c (u) to obtain an arc length parameter corresponding to discrete point calculation; 4) generating a u-s model by utilizing quintic polynomial fitting; 5) performing T-shaped speed planning on the tool path to obtain an arc length parameter of an interpolation point; 6) obtaining discrete points corresponding to the B spline track according to the u-s model; and 7) performing quaternion spherical interpolation between two adjacent rotation vectors in sequence by utilizingthe arc length parameter to obtain a rotation vector corresponding to the B spline curve discrete point. The G2 continuous speed and acceleration of the cubic B-spline track are continuous; the u ands mapping relationship is established to improve the real-time interpolation calculation efficiency; and the T-shaped speed planning response is quick, simple and controlled.

The invention discloses a washing control method for a transformer substation washing robot based on ultrasonic distance measurement. According to the distance acquired through an ultrasonic distance measurement instrument and an image monitored through a monitoring camera, the relative distance between the current robot and insulators is acquired, whether the relative distance is a safe distance or not is judged, if yes, the next step is executed, and if not, the position is adjusted till the relative distance is the safe distance, wherein the ultrasonic distance measurement instrument and the monitoring camera are installed on a washing platform; the path planning initial state is determined; a linear interpolation manner is adopted for automatically washing an insulator string vertically through a washing mechanical arm; a circular interpolation manner of a point-to-point comparison method is adopted so that the insulator string facing the side of the robot can be washed through a nozzle; in the washing process, the water outflow caliber and the water outflow speed of a water gun are adjusted, so that a Karman vortex street is formed, and the vibration frequency of the insulator string is adjusted. The robot works in the safe distance, the start point and the stop point of a washing track are accurately located, and washing quality and efficiency are improved.

The invention is applicable to the technical field of robots, and provides a joint track planning method, device and system and a storage medium. The method comprises the steps that a main controllerobtains a first joint track and a first operation parameter set of each joint of a robot; each joint runs to the midpoint of the first joint track, the main controller judges that a target section exists, and the main controller obtains a second joint track and a second operation parameter set of each joint of the robot; the main controller obtains the joint transition time of each joint on the transition track of the joint; the main controller calculates a third operation parameter set of each joint on the transition track of the joint; each joint runs to the end point of the transition track; and the main controller takes the target section as the current section, and the step of judging whether the target section exists or not is returned to the main controller. According to the joint track planning method, device and system and the storage medium, smooth transition can be achieved without reducing the speed of each joint to zero, the speed continuity among multiple sections of tracks is guaranteed, and therefore the operation stability of the robot is improved.

The invention discloses a S curve-based PVT control method, and solves the problems that an existing method is easy to have jitters in a running process if the acceleration is too big; the method canensure speed and acceleration continuity, and the acceleration has no jitter phenomenon when the speed largely changes in a time, thus enabling a numerical control system to be more stable in processing, and providing a higher processing efficiency; the method comprises the following steps: using S curve acceleration and deceleration to obtain a motion total time T' according to a given start/stopposition, a start/stop speed, a start/stop motion time and motion parameter limits; determining the relation between the motion total time T' and the given start/stop motion time T, and rounding theT' to the time T according to the equivalent periodic S curve if T' cannot satisfy the given start/stop motion time T; calculating the interpolation displacement under an interpolation period if the T' satisfies the given start/stop motion time T.

The invention relates to a method for generating S-type smooth command at analogue position, which is used to smooth the motion command, wherein it mainly uses accumulation asymmetry structure and reference point process, to provide low calculation and high resolution, to meet the response time of acceleration and reduction; then uses analogue speed S-curvature command generator, to smooth the position command.

The invention proposes a cam curve design method for a cap screwing machine based on polynomial fitting. Firstly, various key points determined by the cap screwing machine for completing a cap screwing function are obtained; secondly, in order to avoid the influence of dimensions, the expression mode of each key point is transformed into the relationship between time and displacement, and then thetime and displacement are made to be dimensionless; furthermore, local control points are appropriately added on the basis of shapes and errors of control curves, 5 times, 6 times, 7 times polynomialfitting methods are respectively used for fitting the points, and cam curve expression and cam curve maps are output; finally, the kinematics and dynamics performance of the three polynomial fittingcam curves are compared and analyzed to obtain an optimal curve, and the processing of the cap screwing machine is performed on the optimal curve.

An image-pickup apparatus includes a driving member for leading blades configured to drive a leading blade group, a driving member for trailing blades configured to drive a trailing blade group, a cam member configured to rotate the driving member for leading blades and the driving member for trailing blades, a motor configured to drive the cam member, and a controller configured to control the motor. The controller applies a second voltage that is lower than a first voltage applied in releasing the driving member for leading blades to the motor when the driving member for trailing blades is released at normal shooting, and a third voltage that is lower than the first voltage and that is higher than the second voltage to the motor when the driving member for trailing blades is released at live view shooting.

The invention discloses a motion control emergency stop method which has mathematical analyzability and can ensure the real-time performance of calculation. The method comprises the following steps: acquiring the speed and acceleration of a current motion axis; within preset time, according to quartic spline curve planning, calculating the advancing distance of the motion axis within the stop time; analyzing the relationship between the distance and the time of the stop process according to two conditions of whether the initial acceleration is 0 and whether the initial acceleration and the initial speed are the same; and track planning parameters with continuous acceleration and speed and zero acceleration during stopping are obtained. By means of the method, it can be guaranteed that themotion shaft stably stops and is consistent in motion direction within the specified time; due to the fact that the same time is adopted, the method can guarantee multi-axis synchronization during multi-axis movement, and coordination of the stopping process is kept; and the method can be applied to the industrial control fields of industrial robots, automation and the like, and quick, short-distance and stable stopping of the motion shaft is guaranteed.

The invention discloses a curve design method for a large-ellipticity piston excircle profile. According to the curve design method, an 'ellipse + cycloid' combined curve and an 'ellipse + gradually-varied ellipse' combined curve are designed; the curve design method disclosed by the invention can make curve displacement be smoother, realizes continuous speed and acceleration and prevents saltation; an eccentric circle part is redesigned as a gradually-varied ellipse of which the ellipticity increment changes according to a quadratic sine law; therefore the problem about discontinuous cuspidalpoint and acceleration of displacement at an ellipse and eccentric circle combined type line intersection point is solved; smooth transition of the acceleration at an intersection point of an ellipseand an eccentric circle is realized; acceleration saltation in a machining process can be effectively prevented; impact of a cutter is reduced; and the machining precision is improved.

The invention discloses a multi-point motion track planning method for a mechanical arm. The method comprises the following steps of acquiring a starting point and an end point in a mechanical arm connecting joint space, acquiring any number of path points in the mechanical arm connecting joint space, fitting a key point by adopting a self-adaptive polynomial to obtain a continuous curve equation of an angle, a speed and an acceleration about time, calculating moments of all joints of the mechanical arm through inverse dynamics, completing motion control over the mechanical arm and feeding back angles of all the joints of the mechanical arm so as to update the motion track in real time. According to the method, the self-adaptive polynomial fitting track curve is adopted, it is guaranteed that the motion process of the mechanical arm is always kept continuous and stable under any working condition, meanwhile, the speed of the solving process is high, and implementation control over the mechanical arm is facilitated.