4results about How to "Continuous speed" patented technology

The application discloses a layered continuous inverse kinematics solving method for fiber reciprocating winding of a cylindrical component and belongs to the technical field of robot end control. Based on a fiber winding task of a six-axis robot cylindrical component, trajectory modeling and pose generation are carried out; a kinematics model of the six-axis robot is established; a Jacobian matrix and singularity representation thereof are obtained; end pose error is defined; the fiber winding task of the six-axis robot cylindrical component is described as a continuous inverse kinematics problem; full-pose inverse kinematics iteration is carried out by using a damped least square method; initial value generation based on state prediction is carried out for the fiber winding task of the six-axis robot cylindrical component; a position rollback strategy is set; and the continuous inverse kinematics problem is solved. The application aims at solving the problems of poor continuity of the end trajectory of the six-axis robot, strong attitude constraint and unstable end reversing solving in the fiber winding process of the cylindrical component.

This disclosure relates to a lidar, a scanner for the lidar, and an apparatus. The lidar includes a transmitter and a scanner. The transmitter is configured to emit a probe light. The scanner is configured to oscillate about a rotation axis within an oscillation range, deflecting the probe light into a field of view. The oscillation range includes a first fixed-speed region, a first variable-speed transition region, and a second fixed-speed region along a first direction. The first direction is perpendicular to the rotation axis. The scanner rotates at a greater speed in the first fixed-speed region than it rotates at the second fixed-speed region. In the first variable-speed transition region, the scanner's rotational speed varies with angle according to a half-period cosine function.

Embodiments of the present application provide a kind of electronic gear speed synchronization method, device and storage medium, the method comprises: obtaining the speed and acceleration of slave shaft in last control cycle;When the speed of slave shaft is not equal to the speed of slave shaft synchronization, according to the speed of slave shaft, the acceleration and the kinematics parameter of slave shaft obtained in current control cycle, the speed of slave shaft in current control cycle is adjusted on line, the speed of slave shaft after adjustment for several control cycles is equal to the speed of slave shaft synchronization, the speed and acceleration of slave shaft are continuous in the adjustment process, and the speed of slave shaft synchronization is the product of the speed of main shaft and the gear ratio of slave main shaft.The technical scheme of the embodiments of the present application realizes the online smooth synchronization of electronic gear in compliance with PLCOpen specification, and the speed in current control cycle is adjusted on line by using recursive method, the amount of calculation is small, and the speed and acceleration are continuous in the adjustment process.

The invention discloses a trajectory planning method for a high-speed unstacking cable-driven parallel robot. The trajectory planning method comprises the following steps: constructing a door-shaped grabbing path comprising a plurality of path points according to an unstacking task; generating an initial track meeting kinematics continuity based on the S-shaped acceleration curve and a quintic non-uniform rational B spline; a kinetic model of a rope driving system is established, track parameters serve as design variables, the optimization targets that the tension of all ropes is always larger than a preset minimum value in the movement process and the tension change rate is minimized are adopted, an optimization algorithm is adopted for conducting secondary optimization on a track, and a final track is obtained. The one-way stress characteristic of the rope is fully considered, the rope force fluctuation in the high-speed reciprocating motion is effectively restrained, it is guaranteed that the rope is continuously tensioned, and the motion stability and track precision in the unstacking process are improved.