134results about How to "Good motion control" patented technology

A method and a system generate a time-series signal indicative of a variation of the environment in vicinity of the vehicle with respect to a motion of the vehicle and submit the time-series signal to the neural network to produce a reference trajectory as a function of time that satisfies time and spatial constraints on a position of the vehicle. The neural network is trained in to transform time-series signals to reference trajectories of the vehicle. The motion trajectory tracking the reference trajectory while satisfying constraints on the motion of the vehicle is determined and the motion of the vehicle is controlled to follow the motion trajectory.

Powered patient support apparatuses—such as beds, cots, stretchers, or the like—include a plurality of user controls that allow a caregiver to control the steering and / or driving of one or more powered wheels from multiple different locations around the patient support apparatus (e.g. head end, foot end, and / or the sides). The control is carried out by force sensors that detect both an orientation of the applied forces and a magnitude of the applied forces. Translational and / or rotational movement is effectuated, depending upon the magnitude and direction of the forces, as well as the physical location of the applied force relative to a reference point on the support apparatus, such as the center. One or more object sensors may also be included in the support apparatus to assist in steering and / or navigating.

An improved hydration system for runners that provides superior motion control and easy dispensing. Fluid is contained within a flexible bladder and pack, and attached to the waist. The pack is constructed of comfortable, elastic, and thermally-insulating fabric. When attached to the waist, tension in the fabric compresses the bladder against the user and dampens motion. Uniform distribution of fluid in the bladder contributes to motion control and is provided by a flexible plastic compression plate and snap elements that pinch the lower portion of the bladder. The snap elements can be disengaged to allow the bladder to be fully expanded for easy cleaning and drying. Fluid is dispensed from a small waist-mounted squeeze bottle that fills automatically from the bladder via fluid coupling elements. Check valves ensure that fluid flows unidirectionally from bladder to bottle to user, and prevent air infiltration into the squeeze bottle and bladder.

A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount ΔS / Δt of the area S of a support polygon of the body per time t is minimized and the support polygon when the body drops onto a floor is maximized to distribute an impact which acts upon the body from the floor when the body drops onto the floor to the whole body to suppress the damage to the body to the minimum. Further, the legged mobile robot autonomously restores a standing up posture from an on-floor posture thereof such as a supine posture or a prone posture.

The present invention relates to a system (10) and to a method for providing body sway feedback to a body of a subject. The system (10) comprises (a) at least one body sway sensor means (12) adapted to be attached the body and adapted for providing body sway signals indicative of a sway of the body, (b) a system processor means (14) adapted for deriving body sway information from the body sway signals and adapted for generating a body sway feedback signal from the body sway information, and (c) a subject body sway feedback means (40) having at least one transducer unit (42, 44) and adapted for providing a body sway feedback to the body via said at least one transducer unit (42, 44) based on said body sway feedback signal, (d) wherein said at least one transducer unit (42, 44) is or comprises at least one transducer, (e) wherein said at least one transducer is adapted to be contacted to a head of the body, adapted for vibrating, and adapted for transferring a respective vibration to the head, and (f) wherein said at least one transducer is adapted to evoke based on the vibration a multimodal body sway feedback as stimuli to the subject having a plurality of kinds of stimuli of the group comprising auditory stimuli, tactile stimuli, and vestibular stimuli.

A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount ΔS / Δt of the area S of a support polygon of the body per time t is minimized and the support polygon when the body drops onto a floor is maximized to distribute an impact which acts upon the body from the floor when the body drops onto the floor to the whole body to suppress the damage to the body to the minimum. Further, the legged mobile robot autonomously restores a standing up posture from an on-floor posture thereof such as a supine posture or a prone posture.

The invention discloses a variable structure control method of a wheeled mobile robot. according the method, the linear motion of a robot is controlled by using a multimodal PID (proportion integration differentiation) control method; and a forward direction of a trolley is corrected by using the combination of a control method and a PID control and a rule control; the two control modes are switched through the changes of a directional angle and a centre offset; the robot is controlled to turn in an in-situ right angle turning mode according to turning direction information and position information; by using the multimode PID control and the combination of the rule control and the PID control, the algorithm can use different control algorithms and corresponding control parameters according to different states of the robot to effectively improve the robot motion control performance; the control mode is divided according to the error change condition so as to reasonably simulate the control behavior of a human; compared with the traditional PID control method, the variable structure control method has a certain intelligence and improves the walking motion control quality of the robot.

Powered patient support apparatuses—such as beds, cots, stretchers, or the like—include a plurality of user controls that allow a caregiver to control the steering and / or driving of one or more powered wheels from multiple different locations around the patient support apparatus (e.g. head end, foot end, and / or the sides). The control is carried out by force sensors that detect both an orientation of the applied forces and a magnitude of the applied forces. Translational and / or rotational movement is effectuated, depending upon the magnitude and direction of the forces, as well as the physical location of the applied force relative to a reference point on the support apparatus, such as the center. One or more object sensors may also be included in the support apparatus to assist in steering and / or navigating.

A method and a system generate a time-series signal indicative of a variation of the environment in vicinity of the vehicle with respect to a motion of the vehicle and submit the time-series signal to the neural network to produce a reference trajectory as a function of time that satisfies time and spatial constraints on a position of the vehicle. The neural network is trained in to transform time-series signals to reference trajectories of the vehicle. The motion trajectory tracking the reference trajectory while satisfying constraints on the motion of the vehicle is determined and the motion of the vehicle is controlled to follow the motion trajectory.

The invention relates to a robot. The robot comprises a frame, a large arm, a small arm, a tail end actuator, a connecting piece connected with the small arm in a rotating mode, a first connecting rod and a second connecting rod which are connected between the connecting piece and the small arm in turn, a third connecting rod connected with the frame and the connecting piece in the rotating mode, a driving connecting rod connected with the frame in the rotating mode, a driven connecting rod connected with the driving connecting rod and the small arm, a first driving component for driving the large arm, and a second driving component for driving the driving connecting rod, wherein the connecting piece, the first connecting rod, the second connecting rod and the small arm form a first parallelogram structure; the connecting piece, the large arm, the third connecting rod and the frame form a second parallelogram structure; the driving connecting rod, the driven connecting rod, the small arm, the large arm and the frame form a pentagonal structure; the tail end actuator is arranged on the second connecting rod; and the first driving component and the second driving component are arranged on the frame. The robot has the advantages that: the robot has a compact structure and is convenient to control.

The invention discloses a robot path planning method based on two cooperative competition particle swarms and Ferguson spline, mainly solving the problem of the prior art that the smoothness of the planned path is poor and the convergence rate is slow. The planning method comprises the following steps: modeling the motion environment of a mobile robot; performing three Ferguson spline connections to describe the path of the mobile robot; using the endpoint of the Ferguson spline and the corresponding tangent vector to form and optimize particles; adopting shortest punish function and safety punish function to define a fitness function of which path is to be solved; using the algorithm based on two cooperative competition particle swarms performing global optimization to the fitness function, and outputting the robot path described by Ferguson spline according to the optimization result. The planning method comprehensively considers the shortest and safety of the robot path, the planned path is smooth and is easy for the motion control of the mobile robot; and the planning method achieves the aims of artificial planning and can be used for the autonomous navigation of various mobile robots.

The invention discloses a drilling tail end actuator which comprises a butt joint support assembly, a cutter revolution assembly arranged at one end of the butt joint support assembly in a rotation mode, a cutter rotation assembly arranged in the cutter revolution assembly in a rotation mode, an axial feeding assembly arranged at the other end of the butt joint support assembly and used for controlling axial feeding of a cutter, and a cutter deviation adjusting assembly arranged on the cutter revolution assembly and used for performing deviation adjustment on the cutter. The drilling tail end actuator has the advantages that the cutter deviation adjusting assembly is arranged so that the drilling tail end actuator clamps the cutter capable of machining various apertures, a cutter changing link is avoided, and drilling efficiency is improved. The cutter revolution assembly and the cutter rotation assembly are arranged so that double functions of drilling and milling holes in a screwed mode of the drilling tail end actuator are achieved. Externally exposed arrangement of the cutter deviation adjusting assembly is achieved so that transmission design among moving components is convenient, and the design difficulties of the drilling end tail actuator are reduced.

A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, and incorporating a number of novel aspects. To enable easy insertion and use, the rigidity of the device is increased by means of rigid inserts in the balloons, or by use of stiff springs between segments. The working channel can be attached to the distal chamber of the device, such that it is pulled from the leading end of the device during inflation, rather than being pulled from the trailing end of the device during deflation. Lumen wall inspection or treatment facilities are enabled by means of a camera or treatment arm mounted between two distally positioned balloons, the device is able to provide observation capabilities to the lumen wall, yet without becoming excessively dirty by exposure to the front end of the device, as in prior art camera units.

An industrial control system provides motion control functions that may distribute motion planning tasks to capable motor drives and motion devices based on stored drive profiles. The profile-aware functions allow control programs to be used with motor drives that are both capable and incapable of executing a motion planning with automatic distribution of the planning tasks as appropriate. Coordination among different devices in the industrial control system when motion planning is distributed may be accommodated through peer-to-peer communication between drives and non-controller devices.

The invention discloses a buffer and walking integrated landing device. Several buffer and walking integrated mechanisms are installed on the side wall of the landing device, and each buffer and walking integrated mechanism includes a body connecting plate assembly, a mechanical leg assembly, a buffering and driving integrated primary vibration reducer, buffering and driving integrated auxiliary vibration reducers, a knee joint locking device and a foot pad. Each body connecting plate assembly has the degree of freedom on medial rotation and lateral rotation; each mechanical leg assembly has the degree of freedom on the external swinging, retraction, anteflection and backward extension of hip joints, the stretching and bending of knee joints and the like; each buffering and driving integrated primary vibration reducer, each left buffering and driving integrated auxiliary vibration reducer, and each right buffering and driving integrated auxiliary vibration reducer achieve buffering or driving between the corresponding mechanical leg assembly and the corresponding body connecting plate assembly; the knee joint locking devices achieve flexible movement. The buffer and walking integrated landing device makes up for the shortcomings of a current movable landing device in the aspects of movement flexibility, use convenience and the like, and is extremely excellent in landing device body posture control capability and obstacle surmounting capability in the movement process.

An adjustable arm supports a device housing with respect to a base and allows the position of the device housing to be adjusted as desired. The adjustable arm has segments joined by pivot joints, with passages therethrough to allow wires to be strung through the arm segments and joints so as to be shielded by the arm. The joints can be either dual-pivot joints or single pivot joints, and for both types of joints, the frictional resistance of the joints can be adjusted. In some embodiments, the elements of the arm can be strung onto the wiring prior to assembly.

A novel six-freedom-degree force feedback device is composed of a baseboard (1), a parallel-connection 3RRC mechanism and a rotating mechanism (6), wherein a driving module (2) of the parallel-connection 3RRC mechanism is arranged on the baseboard (1), and the rotating mechanism (6) is arranged on a moving platform (5) of the parallel-connection 3RRC mechanism. All structural parts of the force feedback device are fixed through screws. A position zero calibration column (4) and a gesture zero calibration support (5) are respectively used for initial position calibrating and gesture angle calibrating of the device. Three driving branch chains of the parallel-connection 3RRC mechanism are uniformly distributed on the baseboard. The novel six-freedom-degree force feedback device achieves decoupling of translation movement and rotating movement, has the advantages of being multiple in freedom degrees, large in rotating operation space, high in position accuracy and the like, and has wide application value in virtual operations or other virtual reality interactive tasks.

A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, and incorporating a number of novel aspects. To enable easy insertion and use, the rigidity of the device is increased by means of rigid inserts in the balloons, or by use of stiff springs between segments. The working channel can be attached to the distal chamber of the device, such that it is pulled from the leading end of the device during inflation, rather than being pulled from the trailing end of the device during deflation. Lumen wall inspection or treatment facilities are enabled by means of a camera or treatment arm mounted between two distally positioned balloons, the device is able to provide observation capabilities to the lumen wall, yet without becoming excessively dirty by exposure to the front end of the device, as in prior art camera units.

The present invention provides a kind of bionic double tail stern propeller, which includes one underwater main body, one vehicle body on the underwater main body, two tail handles in the back of the underwater main body, two tail fins, and motor and transmission mechanism on the vehicle body. It features the underwater main body comprising two symmetrically arranged parts with back ends connected tail handles and tail fins successively the vehicle body comprising one reserved floating body and one support connected the underwater main body and the reserved floating body. The present invention has the advantages of fish-imitating propelling, including high efficiency, low noise and less environment disturbance, no bow rolling problem of single tail propelling, and wide application foreground.

A pet washing restraint including hollow support member, preferably having a pyramid-like shape and also having a base end and a distal end, the support member tapering from the base end. Spaced apart suction members are connected to, and face away from, the base end and are adapted for releasable attachment to an upright wall surface of a bathing tub. A pet torso-engaging strap is attached to, and extends from the distal end for engagement around a torso of the pet. The support member is sized in length to position and restrain the pet held within the strap encircling the torso of the pet from substantial movement centrally within the bathing tub. A second restraint acting together in side-by-side fashion may also be provided for enhanced pet movement control.

The invention relates to a method for controlling the movements of articulated arms (21, 22, 23) of an industrial robot (2) using a movement setting means (3), wherein the movement setting means (3) is held by an operator in a predefined position relative to a reference mark (19, 19', 19") and the reference mark (19) is detected by the movement setting means and optionally read (16), and the distance (17) thereof to the reference mark is measured. The position and the alignment of the movement setting means (3) is detected by internal sensors (9), e.g. inertial / acceleration sensors, or by external sensors (30, 31, 32), e.g. 3D camera. Upon satisfying the coupling condition (25), the industrial robot or individual articulated arms thereof are coupled virtually to the movement setting meansand follow its movements, as if a fixed or rigid or flexible mechanical coupling had been established with respect to the industrial robot. In addition, a haptic feedback to the operator can be provided by a mechanical coupling of the movement setting means to an articulated arm of the industrial robot.

The invention provides a fuzzy controller of biomimetic robotic fish capable of feeding back and adjusting control parameters in real time to improve the control performance. The object of the invention is realized by that the fuzzy controller of biomimetic robotic fish comprises: a receiving module, which acquires a desired value and a measured value obtained by a sensor and calculates out an error (e) between the desired value and the measured value and a rate of error change (e c); a quantization module, which quantizes the error (e) and the rate of error change (e c) according to a quantization factor to obtain a quantized error (E) and a quantized rate of error change (E C); a first fuzzy control module, which queries a fuzzy control table according to the quantized error (E) and thequantized rate of error change (E C) to obtain a control quantity; an actual control increment output module, which multiplies the control quantity by a scaling factor to obtain an actual control increment; and a second fuzzy control module, which adjusts the quantization factor of the quantization module and the scaling factor according to the quantized error (E) and the quantized rate of error change (E C). the invention further provides a fuzzy control method of the biomimetic robotic fish.

The invention discloses a prostate puncturing mechanism applied to an inner part of a magnetic resonance imaging machine and a working method. The mechanism comprises an outer needle rotation unit, an inner needle feeding unit and an anti-friction unit, wherein when a prostate puncturing needle is a rigid needle, friction resistance in a puncturing process can be reduced through high-frequency vibration of the anti-friction unit; and when the prostate puncturing needle is a flexible needle, rotation of the flexible needle can be controlled through the outer needle rotation unit, so that guidance and obstacle avoidance are realized. According to the prostate puncturing mechanism disclosed by the invention, by adopting a nonmagnetic or weak-magnetic material such as resin and aluminum alloys, and the prostate puncturing mechanism is not affected by a magnetic field, has a less influence on image quality and has good nuclear magnetic compatibility; and meanwhile, by adopting direct driving of nonmagnetic ultrasonic motors of a variety of forms, motion conversion mechanism is eliminated, and therefore, the prostate puncturing mechanism has the characteristics of being compact in structure, high in displacement controlling property and high in response speed.

The invention relates to a bionic jellyfish robot, provides a bionic jellyfish robot driven by parallelly connected mechanical arms, and aims to solve the problems that the conventional bionic jellyfish robot is small in moving amplitude, small in driving force and unsuitable for the complicated marine environment. A streamline end cover, a sleeve, a pedestal and a base are sequentially connected; one end of a driving unit is connected through a motor connecting plate mounted on the pedestal; a cam driving disc is mounted on the output shaft of the driving unit inside the sleeve in a sleeving manner; a track groove is formed in each of the upper end surface and the lower end surface of the cam driving disc along the outer contour line of the cam driving disc; the contour shape of each track groove is a concave-convex contour curve; a plurality of sliding connecting bases are in sliding joint with the track grooves of the cam driving disc 9 in an annular arrayed manner through a plurality of roller shaft components; one end of each mechanical arm drive rod is connected with one sliding connecting base, and the other end of each mechanical arm drive rod is in flexible connection with a flexible mechanical arm. The bionic jellyfish robot is used for unmanned underwater transportation.

The invention discloses a continuous mechanical arm imitating a snake vertebra. The continuous mechanical arm imitating the snake vertebra comprises a base joint section, a head joint section and a plurality of driving wires. The continuous mechanical has the advantages that 1, load capacity is strong, and the strength and the load capacity of the spherical hinge joint are enhanced due to the arrangement of spherical hinged joints strong; 2, modeling is easy, the control difficulty is reduced, and the elastic force of a flexible supporting rod not only counteracts the friction force between the driving wires and wire guides, but also provides self-restoring force for the mechanical arm; 3, the mechanical arm is flexible for being capable of rotating by 360 DEG C; and 4, the mechanical armis easy to assemble and expand, wherein a space disc and the spherical hinged joints are combined into one and are directly arranged on the flexible supporting rod in series, the requirements can be met only by fixing a head end disc and a tail end disc, the assembly process is simple and effective, the length of a single-joint mechanical arm can be changed by increasing or decreasing the number of the spherical hinged joints which are arranged in series, and therefore, the mechanical arm has high expansibility.

The invention provides a foot structure. The foot structure comprises a foot plate, an air pressure module and a data processing module, wherein the air pressure module and the data processing moduleare arranged at the bottom of the foot plate. Connecting assemblies used for being connected with legs of a robot are arranged on the foot plate. The air pressure module comprises at least one air pressure detection unit, and the air pressure detection units are arranged at the bottom of the foot plate. Each air pressure detection unit comprises an air pressure sensor and an air bag, wherein the air pressure sensor is connected with the air bag. Each air bag is provided with an inflation opening. The data processing module is used for acquiring data of contact with the ground so as to adjust the walking posture of the robot in real time. Meanwhile, the invention provides a pressure detection method. The pressure detection method comprises the steps that S1, the air pressure module is initialized and subjected to zero position calibration; S2, the data of contact with the ground are acquired through the air pressure detection units; and S3, the data processing module processes the dataof contact and adjusts the walking posture of the robot in real time. According to the foot structure, the structure is simple, the air pressure detection technology is adopted, and adaptability is high; modular design is achieved, and mounting is convenient; and the measuring precision is high, and real-time feedback is achieved.

The invention discloses a method for solving the inverse kinematics of a four-degree-of-freedom joint type robot. The method comprises the following steps that 1, a dynamic coordinate system O-XZ, anda coordinate equation of a hinge point A, a hinge point C, a hinge point B, a hinge point E and a hinge point F is established; 2, according to the kinematics decoupling characteristic of the robot,a position relation coordinate equation among the hinge point F, the hinge point A and the hinge point C is obtained; 3, a base coordinate system O0-X0Y0Z0 is established, and the position positive solution (Xon, Yon, Zon) and the speed positive solution (Xon, Yon, Zon) of a central position On are obtained by kinematics; and 4, the rotation angle theta 1 and the rotation angle theta 2 are solved,and the position positive solution (Xon, Yon, Zon) and the speed positive solution (Xon, Yon, Zon) are utilized so as to obtain the position inversion Xc and Za of a horizontal sliding block and a vertical sliding block, and speed inversion Xc, Za, and delta 1. The calculation complexity of kinematics analysis can be reduced through the simplified kinematics solution, so that the inversion process of the whole robot is simple and visual, the joint angle of a mechanical arm is accurately controlled, and the safety of the robot is improved.

The invention discloses a cutting device for a solar cell piece. The cutting device comprises a laser device adjusting platform, a laser device, a light spot generator and a positioning adsorption device; the laser device adjusting platform is used for adjusting the installation position of the laser device; the laser device is connected with the laser device adjusting platform and used for emitting lasers; the light spot generator is connected with the laser device and comprises a beam expander, a scanning galvanometer and a scanning field lens which are sequentially arranged, wherein the lasers sequentially pass through the beam expander, the scanning galvanometer and the scanning field lens, the beam expander is used for amplifying the diameter of the lasers to obtain laser beams with high collimation degree, and the scanning field lens is used for converging the laser beams into light spots; and the positioning adsorption device is arranged below the scanning field lens and is used for fixing the solar cell piece. The cutting device has the beneficial effects that by adopting the scanning galvanometer, a laser cutting head and work-pieces to be processed do not need to move, the cutting speed is increased, the positioning accuracy is high, the defects that the speed of mechanical movement is small and the positioning precision of mechanical movement is limited are greatly overcome, moving back and forth is not needed in the cutting process, the cutting efficiency is improved, the cutting precision is high, and the production cost of an enterprise is saved.

The invention relates to a magic ball conversion balance mechanism for an underwater vehicle. The magic ball conversion balance mechanism comprises four magic ball mechanisms, a gas storage bag, four gas pipes and elastic gasbags wrapped on magic balls; when a driving device drives a feed screw nut to drive a nut moving block to move towards the direction far away from a feed screw moving block, the magic ball mechanisms are closed, and the magic balls contract; when the driving device drives the feed screw nut so that the nut moving block moves towards the direction of the feed screw moving block, the magic ball mechanisms are unfolded, and the magic balls are expanded. When the lead screw nut moves at maximum relative displacement of the nut moving block and the lead screw moving block, the magic balls completely contract; when the relative displacement is minimum, the magic balls are completely expanded. Through expansion and contraction of the four magic balls, the volume sizes of the magic balls are changed, and thus local buoyancy force of underwater vehicle system is changed, and the restoring moment of buoyancy force is generated so as to help the underwater vehicle to restore a balance posture.

The invention discloses a bionic underwater vehicle flapping wing propulsion device. An underwater vehicle comprises a drive motor assembly, a transmission gear set, a ball screw, a steering engine, asteering shaft, an adaptive under-actuated flexible wing framework, a single-sliding block and double-rocker mechanism, and a fixing seat, the drive motor assembly, the ball screw and the fixing seatare connected with an underwater vehicle body separately, the drive motor assembly is composed of a motor, a speed reducer and an encoder, the ball screw is composed of a screw rod, a screw nut and ascrew fixing seat, and an output shaft of the speed reducer is connected with a driving gear of the transmission gear set; a driven gear of the transmission gear set is connected with the screw rod of the ball screw, and the motor drives the screw rod to rotate through the transmission gear set. The bionic underwater vehicle flapping wing propulsion device has the advantages that the integral structure is provided with a front end swing and a rear end swing, the whole device has two degrees of freedom, and propulsion, turning, floating, submergence and other movements of the underwater vehicle can be achieved.