45results about How to "High execution precision" patented technology

The invention relates to a method and a system for generating emergency action plan based on pre-arranged plan; the method comprises: an information recording step for receiving and storing the current affair information input by users; a pre-arranged plan extraction step for detecting at least one group of emergency pre-arranged plans matched with the current affair from a pre-arranged plan database according to the current affair information; a pre-arranged plan analysis step for extracting all correlated secondary and derivative affairs from an affair chain database, searching typical cases similar to the current affair from a case database, and correcting the at least one group of emergency pre-arranged plan to form an emergency action plan; and a plan generation step for constantly forming a corrected emergency action plan according to basic decision data in the current affair information, and generating a current emergency action plan according to a man-machine interaction step. In the invention, the emergency action plans are generated to change artificial decision process, thereby reducing the loss caused by artificial error and ensuring the safety of social public property.

The invention discloses a method for improving the memory cutting execution precision of a coal mining machine. The method comprises the following steps of: (1) acquiring data, (2) determining input variables and an output variable, (3) setting discourse domain elements of the input variables e and c and the output variable delta beta2 and quantifying factors k1, k2 and k3, (4) determining a fuzzy control rule, (5) constructing a fuzzy control table, and (6) after the fuzzy control table is constructed, storing the fuzzy control table in a coal mining machine controller, in the running process of the coal mining machine, correcting a change range of the height of a roller of the coal mining machine in real time according to a fuzzy classification of the height change of a base plate, and adjusting an inclination angle of a swing arm according to the change range. Compared with the prior art, the method has the advantages that the memory cutting execution precision of the coal mining machine can be effectively improved and the flatness of a cutting path of the coal mining machine is improved to a certain extent.

The invention discloses a near-distance image navigation full-automatic radioactive particle implanting device which comprises a puncture needle puncture module, a radioactive particle implanting module and a puncture needle rotating module. The puncture needle rotating module comprises a puncture needle, a puncture needle clamping head and a puncture needle rotating wheel which are coaxially arranged, a puncture needle rotating wire is wound on the puncture needle rotating wheel, the radioactive particle implanting module comprises a fixing barrel which supports the puncture needle rotating wheel and is in rotatable connection with the same, a radioactive particle clip is fixed on one side of the fixing barrel and communicated with the puncture needle, the front portion of a flexible probe wound on a probe driving wheel body is mounted in the puncture needle in an inserted manner, a probe driving wire is wound on a probe driving wheel, the puncture needle puncture module comprises a slider fixedly connected with the fixing sleeve, and the slider is connected with a spiral transmission module which is driven by a screw rotating wire. The near-distance image navigation full-automatic radioactive particle implanting device is high in radioactive particle implanting accuracy and high in speed, and damage to doctors by radioactive operating environment can be lowered.

The invention discloses an error-controllable four-axis industrial robot B-spline transition type smooth trajectory generating method which comprises the following steps of step1, pretreatment of a fourth-axis industrial robot trajectory: the trajectory is divided into a trajectory segment requiring smoothness and a trajectory segment without requiring the smoothness, and pretreatment is performedon a four-axis attitude to ensure an inferior arc trajectory between two trajectory points; and step 2, smoothing of a four-axis trajectory B-spline: the trajectory segment, requiring the smoothness,generated in the step 1 is traversed, and a geometric iteration method is adopted to generate a B-spline transition type smooth trajectory according to a trajectory point error threshold value, a position point chord height error threshold value and the continuity requirement for each trajectory segment. The B-spline transition type smooth trajectory is composed of a linear trajectory and a B-spline trajectory, and the whole trajectory has the G1 or G2 continuity with synchronization of a position and a posture, and a position chord height error between the trajectory point error and each trajectory point is satisfied; and in addition, trajectory smoothing of complex application of a four-axis industrial robot can be realized by adopting a spline trajectory, so that the operation efficiency and the quality of the four-axis industrial robot are improved.

The invention discloses an obstacle avoidance solution applied to a redundant manipulator. The obstacle avoidance solution comprises the steps of: S1, acquiring a forward kinematics model of the manipulator through establishing a D-H matrix of the manipulator, and establishing a target track equality constraint index of a speed layer after performing derivation processing on the forward kinematicsmodel; S2, establishing a vector-based obstacle avoidance inequality constraint index; S3, writing the target track equality constraint index of the speed layer established in the step S1 and the vector-based obstacle avoidance inequality constraint index established in the step S2 into quadratic programming problems in the unified form; S4, transforming the quadratic programming problems in theunified form in the step S3 into a linear variational inequality; S5, solving the linear variational inequality in the step S4 by means of a primal-dual neural network solver; S6, and outputting manipulator joint angle control variables solved by means of the primal-dual neural network solver in the step S5 to the manipulator, so as to realize the effect of controlling the redundant manipulator toavoid obstacles.

The invention discloses an optimization method of a minimum acceleration trajectory of a 7-DOF humanoid-arm-provided flying object in operation. The optimization method comprises the following steps:step (S1) building a mathematic model, adopting Joint trajectories of a quartic polynomial interpolation operation process and a return process, and taking a joint angular acceleration norm minimum asa target function for algorithm optimization; step (S2) setting the running parameters of a particle swarm optimization algorithm; step (S3) running the particle swarm optimization algorithm, and obtaining a group of optimal redundant variable parameters by optimizing and minimizing the target function; and step (S4) substituting the optimal redundant variable parameter into operation action trajectory parameterization of the humanoid-arm-provided flying object to obtain the action trajectory of which the joint angular acceleration norm is minimum. The optimization method disclosed by the invention can be used for obtaining an operation action trajectory of the humanoid-arm-provided flying object, wherein the angular acceleration is continuous, and the joint angular acceleration norm is also minimum, so hidden vibration caused by an incontinuous angular acceleration trajectory in an action process of a humanoid arm, disturbance on the posture of a robot body is reduced, and the execution precision of the humanoid arm is improved.

The invention discloses a noumenon based criminal justice case inference method by means of linear programming. The method comprises the following steps that 1) data of criminal cases is expressed and stored in the vector form scientifically and effectively; S2) a model established on the basis of GA-KNN is used for inference; S3) prior knowledge is used effectively via linear programming, namely, an output result of an algorithm is evaluated according to subjective experiences of law experts, and the execution precision of a case inference system can be improved effectively; and S4) an addition, deletion, modification and checking module of a mass of criminal case data is used to provide an operational interface for data access by a user. According to technical schemes of the invention, the prior knowledge of the law experts can be used to adjust parameters learned by machine learning in the data screening phase, cases more correlated to a case to be judged serve as a training set and are provided for a training neural network, and the decision precision of the whole system is improved.

The embodiment of the invention relates to a positioning system and method for an unmanned plane. The positioning system at least includes a positioning enhancement apparatus, a fixed station and an unmanned plane, wherein the fixed station can be connected with the unmanned plane; the positioning enhancement apparatus is used for acquiring single point positioning coordinates, and can output reference positioning coordinates according to the single point positioning coordinates; the positioning enhancement apparatus utilizes the reference positioning coordinates and / or the single point positioning coordinates to generate positional deviation information; the unmanned plane is used for acquiring the current positioning coordinates of the unmanned plane, and receiving the current positioning coordinates and the positional deviation information transmitted from the positioning enhancement apparatus; when the current positioning coordinates are the single point positioning coordinates, the positional deviation information is used to correct the single point positioning coordinates; and the corrected single point positioning coordinates are used to control flying of the unmanned plane. The positioning system and method for an unmanned plane can be used for reducing the deviation for positioning of the unmanned plane during the period of executing the same task by the unmanned plane so as to improve the execution accuracy of the task track.

The invention discloses an automatic parking system and a parking space recognition method. A sensor signal processing unit controls in real time and receives a reflected wave signal of an ultrasonicsensor in real time in a hard wire connection mode, converts the signal into a corresponding distance signal and sends the distance signal in a CAN communication mode to an electric power steering system. Compared with a conventional automatic parking controller, the automatic parking system needs to calculate complex logic, the processing work of the sensor signal processing unit is simpler, so that no complicated electrical structure is required and the cost is lower; hardware conditions of the electric power steering system are fully utilized, a function button command and the distance signal of the ultrasonic sensor are received, parking position searching and automatic parking functions can be implemented, the cost of the electric power steering system is not increased, the cost of the whole system is reduced, and the automatic parking system is high in execution precision, is controlled stably and is high in safety and suitable for various electric power steering systems.

The invention relates to a digital constant-temperature control circuit applied to a moving base gravimeter. The digital constant-temperature control circuit is composed of a temperature measurement circuit, a digital signal processing circuit, a driving circuit and a power supply circuit. The temperature measurement circuit consists of a precision reference voltage source, a temperature measuring bridge, a multi-channel change-over switch, an instrument amplifier, and a low-pass filter. The digital signal processing circuit includes an A / D sampling chip, a DSP chip, and an FPGA chip. The driving circuit includes an optocoupler, a protection diode, an MOS tube, a heating resistor and a fan. The power supply circuit consists of a + / - 15-V module, a 5-V module, a 12-V module and a 3.3-V module. A temperature measurement bridge is formed by using a high-precision resistor and a platinum resistor and selection of the resistance of the high-precision resistor uses the resistance of the platinum resistor under the target temperature value as a reference, so that measurement noises of the temperature measurement bridge are minimized when the controlled temperature is close to the target temperature value and thus high-resolution temperature measurement is realized.

An error-controllable circular arc transition type smooth track generation method of a four-axis industrial robot comprises the following steps: 1, preprocessing a track of the four-axis industrial robot; traversing all track points; dividing a linear track into a track section to be smoothened and a track section which is not needed to be smoothened based on the position distance and included angles; preprocessing the postures of four axes; and ensuring a minor arc track between two track points; and 2, smoothening a four-axis track, namely, traversing the track section to be smoothened and generated in step 1; and generating a circular arc transition type smooth track of each track section to be smoothened by a geometric iteration method based on the track point error threshold, the position point chord height error threshold and the continuity requirement. According to the method, the G1 continuity under synchronized positions and postures can be realized; the track point error andthe position chord height error among the track points are met; in addition, the generated track can be directly used without changing an existing instruction format of the four-axis industrial robot,so that the working efficiency and quality of the four-axis industrial robot can be improved.

The present invention discloses a measuring apparatus and method of spot centroid extraction accuracy. The apparatus uses a displacement high-frequency modulation method. A fast steering mirror, a collimating device, and the like actuated by a laser device and a piezoelectric ceramics actuator generate remote high-frequency small-amplitude light source displacement in a simulation manner, an amplitude and a frequency of the light source displacement are set in advance, a spot centroid extraction system detects the light source displacement, a working computer processes data obtained through detection, and to-be-measured spot centroid extraction accuracy may be obtained. According to the measuring apparatus and method of spot centroid extraction accuracy, interference of measuring platform jitter on spot centroid extraction accuracy measurement can be effectively restrained, and the measuring apparatus and method is simple and convenient.

The present invention is applied to the human-robot interaction field, and provides a method and an apparatus for interaction between a robot and a user; the method includes: determining an original direction where a voice signal is generated upon receiving a voice signal; adjusting a robot from a current direction to the original direction, and capturing a picture corresponding to the original direction; detecting whether a human face exists in the picture; when a human face exists in the picture, recognizing whether a user corresponding to the human face is a legal user; and when the user corresponding to the human face is a legal user, interacting with the legal user. The method can improve the accuracy of instruction execution of the robot.

The invention discloses a steady flow area laser / ultrasonic composite low-damage complex microstructure machining device, and belongs to the technical field of precise non-traditional machining. The device comprises a base, a workpiece clamping sliding table unit, a laser unit, a jet gun unit and an upper computer; the workpiece clamping sliding table unit, the laser unit and the jet gun unit are arranged on the base; a workpiece is clamped on the workpiece clamping sliding table unit; An optical axis of laser emitted by the laser unit is in a horizontal state and is perpendicular to the surface of the workpiece, and laser spots achieve high-frequency micro-displacement modification and macroscopic machining track coupling in the direction perpendicular to the optical axis; and a high-pressure water jet participates in laser in high-frequency reciprocating motion to act on the surface of the workpiece at the same time, and attachments on the surface of the machined workpiece are peeled off while a heat affected zone and a recast layer are reduced. According to the device and method, the recast layer on the machined surface is peeled off in real time, the attachments on the machined surface are cleared, and the quality and the subsurface performance of the machined surface are improved.

The invention discloses a filling reversing structure. The filling reversing structure is characterized by comprising a cam power device, a reversing control structure and an executing mechanism, wherein the cam power device is used for providing transmission power to the device, and comprises a cam; the middle part of the cam is provided with a through hole for connecting a motor output shaft, and connected with a swinging arm by a cam slot formed in the cam; the end part of the swinging arm is connected with the reversing control structure by a hoop; the reversing control structure comprises an air cylinder and an air cylinder tension rod, wherein the air cylinder tension rod is connected with the air cylinder; the air cylinder drives a control rod to move; the control rod is connected with a hanger control rod mechanism to drive the hanger control rod mechanism to move; the executing mechanism comprises a movable rod which is connected with the reversing control structure, wherein the end part of the movable rod is connected with a rotary valve swinging arm; and the rotary valve swinging arm rotates up and down along with the motion of the movable rod, so that reversing motion is achieved. The filling reversely structure not only achieves transmission integration, but also well achieves transmission automation, so that the operation of the product is stable, the cost is low, a way of controlling a large part with a small part is delicately achieved, and the cost performance is relatively high.

The invention provides a water-secluding pipe filling valve control system for a marine drilling platform. The water-secluding pipe filling valve control system comprises a balance valve, a control valve, a lock valve, a change-over valve, an energy accumulator and a drive oil cylinder, wherein the control valve separately communicates with the balance valve and the lock valve through oil tubes; the change-over valve separately communicates with the lock valve, the energy accumulator and the drive oil cylinder; and the control valve is additionally equipped with a remote control interface, and the control valve communicates with an external hydraulic control source through the remote control interface. A using method for the water-secluding pipe filling valve control system comprises five steps of system initialization, system pressure drop, filling valve opening, opening keeping and filling valve closing. The system provided by the invention is simple in structure, is high in fault resistance, is various and flexible in control way, and is good in operation stability and interference resistance, so that automation degree, reliability and stability of filling valve operation are improved, and the defects such as low filling valve control speed and low implementation precision as a result of balance valve pressure difference in a conventional control system are effectively solved, and therefore, control precision of the water-secluding pipe filling valve control system is greatly improved.

The invention provides an intelligent control system of a filling valve of a water separating pipe of a marine drilling platform and the filling valve. The system comprises a water separating pipe body, a water separating pipe chamber door, a driving oil cylinder, a pressure sensor, a displacement sensor, a balancing valve, a control valve, a lock valve, a control solenoid valve, a conversion valve, an energy storage device and an intelligent control system body, wherein the pressure sensor, the displacement sensor, the control valve and the control solenoid valve are additionally respectively electrically connected with the intelligent control system body; the intelligent control system body comprises a data processing circuit, a communication circuit, a driving circuit, a pressure detecting circuit and a displacement detection circuit. With the adoption of the system, the filling valve of the water separating pipe has the intelligent device detecting and intelligent operating functions; therefore, the reliability and stability in device operation are improved; in addition, the defects of slow corresponding control and small performing precision of the filling valve due to excessive pressure difference of the balancing valve in the traditional control system can be effectively solved, and the operation stability and accuracy of the filling valve of the water separating pipe can be improved.

The invention relates to a rotation driving telescopic mechanism in the technical field of driving mechanism design. The rotary driving telescopic mechanism comprises a flange sleeve, a rotating rod, a telescopic rod, a protective sleeve, a positioning pin, a screw head pin shaft and a fastening screwed plug, the flange sleeve comprises a sleeve shell and a flange plate, two countersunk head through holes are formed in the outer wall of the flange sleeve, a screw head pin shaft and a fastening screwed plug are arranged in the two countersunk head through holes respectively, a positioning spring and a positioning ball are sequentially arranged at the inner end of the fastening screwed plug, and two kidney-shaped holes are formed in the shell wall of the other end of the sleeve shell; an inner square hole is formed in one end face of the rotating rod, a first center hole is formed in the other end face of the rotating rod, and a groove, two limiting ball sockets and two spiral grooves are formed in the outer wall of the rotating rod; a second center hole is formed in the telescopic rod, a compression spring is arranged between the first center hole and the second center hole, and a pin hole is formed in a rod body of the telescopic rod; the protective sleeve comprises a sleeve and a sealing head plate; a through hole is formed in the center of the sealing head plate; and the telescopic mechanism is convenient to operate, accurate in positioning, compact in structure, high in reliability and capable of meeting the wide requirements of manufacturing and using.

The embodiment of the invention provides a robot position control method and device based on a differential model, wherein the method comprises the steps: the relative position of a robot relative to a destination is obtained, and a motion path of the robot is determined, wherein the motion path comprises a linear motion distance and / or an in-situ rotation angle; the linear motion distance and / or the in-situ rotation angle included in the motion path are / is converted into target pulse numbers of wheels of the robot through the differential model; and the wheels of the robot are controlled to execute the corresponding target pulse number, the corresponding linear motion distance and / or the in-situ rotation angle. The invention provides a position control method based on a differential model robot. The problems that the process is complex and the precision is poor when a speed mode is used for conducting accurate position navigation are solved.

The invention discloses an autonomous operation method of an agile satellite data transmission subsystem, and belongs to the technical field of agile satellites. The method comprises the following steps of: firstly, determining five meta-task modes according to the working mode of the data transmission subsystem, and proposing meta-task data block content requirements and sending time requirements; then, providing a meta-task autonomous operation method based on instruction pool traversal execution, reading meta-task data blocks from a storage area and analyzing the meta-task data blocks, judging instructions meeting sending conditions in an instruction pool in a traversal mode, generating an instruction sequence, sending and executing the instruction sequence one by one at the designatedtime on the basis of an appropriate instruction interval; and repeating the above steps until executing all meta-tasks at this time. The method is low in implementation complexity, improves the instruction execution efficiency, execution timeliness and use flexibility, and is suitable for agile satellites with a large number of monorail tasks, high requirements for task response timeliness and high requirements for action execution accuracy.

A parallel mechanism with multiple slide rails and composite branch chains. It includes a base, a moving platform, a first compound drive branch, a second compound drive branch and a third compound branch, and the mechanism has three degrees of freedom of rotation and two translations. The advantages of the present invention: the use of two composite drive branch chains and one composite branch chain can effectively reduce the number of branch chains of the mechanism, reduce the interference between the branch chains during the operation of the mechanism, and at the same time, the cooperation of multiple branch chains can improve the flexibility of the mechanism ;Using multiple slide rails to connect and drive, which can maintain the stability of the operation of the mechanism and improve the execution accuracy of the end effector on the moving platform; The connection method of two identical branch chains and three identical slide rails is convenient for processing, manufacturing and replacement, reducing the cost of The cost is beneficial to save resources; the redundant structure can avoid singularity when the moving platform rotates, and ensure the accuracy of the mechanism operation.

The present invention discloses a measuring apparatus and method of spot centroid extraction accuracy. The apparatus uses a displacement high-frequency modulation method. A fast steering mirror, a collimating device, and the like actuated by a laser device and a piezoelectric ceramics actuator generate remote high-frequency small-amplitude light source displacement in a simulation manner, an amplitude and a frequency of the light source displacement are set in advance, a spot centroid extraction system detects the light source displacement, a working computer processes data obtained through detection, and to-be-measured spot centroid extraction accuracy may be obtained. According to the measuring apparatus and method of spot centroid extraction accuracy, interference of measuring platform jitter on spot centroid extraction accuracy measurement can be effectively restrained, and the measuring apparatus and method is simple and convenient.

The invention discloses a mobile robot repositioning method based on deep learning, a mobile robot comprises a robot attitude control system, a real object data acquisition system and a map model analysis and strategy experience system, and the real object data acquisition system comprises a visual camera, a laser ranging sensor and an anchor frame illumination device. The repositioning method comprises the following specific steps: S1, a real object data acquisition system of a mobile robot; s2, generating a moving path; s3, performing feature evaluation on the strategy experience system; s4, adjusting and controlling the posture of the mobile robot; and S5, action execution. According to the repositioning method, a real object data acquisition system, map model analysis and generation of a moving path are utilized to match a navigation path of an offline map model, the mobile robot is repositioned, the situation that the robot cannot be positioned due to data loss is avoided, the accuracy of tableware surrounding environment data of a visual camera is improved by arranging an anchor frame for illumination, and the service life of the mobile robot is prolonged. Therefore, the effect of improving the positioning precision is achieved.

The invention relates to a digital constant-temperature control circuit applied to a moving base gravimeter. The digital constant-temperature control circuit is composed of a temperature measurement circuit, a digital signal processing circuit, a driving circuit and a power supply circuit. The temperature measurement circuit consists of a precision reference voltage source, a temperature measuring bridge, a multi-channel change-over switch, an instrument amplifier, and a low-pass filter. The digital signal processing circuit includes an A / D sampling chip, a DSP chip, and an FPGA chip. The driving circuit includes an optocoupler, a protection diode, an MOS tube, a heating resistor and a fan. The power supply circuit consists of a + / - 15-V module, a 5-V module, a 12-V module and a 3.3-V module. A temperature measurement bridge is formed by using a high-precision resistor and a platinum resistor and selection of the resistance of the high-precision resistor uses the resistance of the platinum resistor under the target temperature value as a reference, so that measurement noises of the temperature measurement bridge are minimized when the controlled temperature is close to the target temperature value and thus high-resolution temperature measurement is realized.

The invention discloses an optimization method of a minimum acceleration trajectory of a 7-DOF humanoid-arm-provided flying object in operation. The optimization method comprises the following steps:step (S1) building a mathematic model, adopting Joint trajectories of a quartic polynomial interpolation operation process and a return process, and taking a joint angular acceleration norm minimum asa target function for algorithm optimization; step (S2) setting the running parameters of a particle swarm optimization algorithm; step (S3) running the particle swarm optimization algorithm, and obtaining a group of optimal redundant variable parameters by optimizing and minimizing the target function; and step (S4) substituting the optimal redundant variable parameter into operation action trajectory parameterization of the humanoid-arm-provided flying object to obtain the action trajectory of which the joint angular acceleration norm is minimum. The optimization method disclosed by the invention can be used for obtaining an operation action trajectory of the humanoid-arm-provided flying object, wherein the angular acceleration is continuous, and the joint angular acceleration norm is also minimum, so hidden vibration caused by an incontinuous angular acceleration trajectory in an action process of a humanoid arm, disturbance on the posture of a robot body is reduced, and the execution precision of the humanoid arm is improved.

The invention discloses a device and a method of measuring beacon light spot displacement sensitivity by a tracking and pointing system. The device adopts a wavelet transform-based data processing method, a long-distance light source displacement with a fixed frequency and regularly-changed amplitude is generated through simulation by a laser, a piezoelectric actuator, a piezoelectric ceramic quick mirror, a collimator and the like, the amplitude and the frequency of the light source displacement are set in advance, a to-be-detected system detects the light source, a working computer carries out wavelet transform and other data processing on the detected information, and thus, the beacon light spot displacement sensitivity by the to-be-detected system can be obtained. Interference on the measurement device by jitter of the measurement platform can be effectively suppressed, and the device and the method of the invention are simple, convenient and easy.

The invention discloses a control parameter optimization method and device, an air conditioner, a storage medium and a processor, and the method comprises the steps: determining a control loop, needing PID control parameter optimization of a unit controller, in all control loops of electrical equipment, and taking the control loop as a target control loop; taking an initialization value or an empirical value of a PID control parameter of each unit controller in the target control loop as an initial position of each community bacterium, and initializing an optimization parameter of each community detail in a bacterial foraging algorithm; based on the initial position and the optimization parameter of each community bacterium, performing PID control parameter optimization processing on the target control loop based on a bacterial foraging algorithm in combination with a cloud model and a particle swarm algorithm so as to obtain the optimization result of the PID control parameter of eachunit controller in each target control loop. According to the scheme, the problem that a large amount of energy consumption is easily caused when the controller with fixed parameters is adopted for control can be solved, and large amount of energy consumption in the control process is avoided.

An error-controllable four-axis industrial robot B-spline transition smooth trajectory generation method, comprising: Step 1, four-axis industrial robot trajectory preprocessing: the trajectory is divided into smooth trajectory segments and non-smooth trajectory segments, and The four-axis attitude is preprocessed to ensure that the inferior arc trajectory is taken between the two trajectory points; step 2, the four-axis trajectory B-spline smoothness: traverse the trajectory segments generated in step 1 to be smooth, and follow the trajectory point error threshold for each trajectory segment , position point chord height error threshold and continuity require geometric iteration method to generate B-spline transitional smooth trajectory. The B-spline transitional smooth trajectory of the present invention is composed of a linear trajectory and a B-spline trajectory, and the entire trajectory has G1 or G2 continuity with synchronous position and attitude, which meets the error of the trajectory point and the position chord height error between the trajectory points, and Using the spline trajectory can realize the smooth trajectory of the complex application of the four-axis industrial robot, thereby improving the operating efficiency and quality of the four-axis industrial robot.

The invention discloses an automatic transmission shifting fork gear-shifting mechanism, a gear-shifting executing method and an automobile. The automatic transmission shifting fork gear-shifting mechanism comprises a shifting fork assembly and an executing motor assembly, wherein the shifting fork assembly is provided with a shifting fork and a shifting fork rod; the shifting fork is fixed to theshifting fork rod; the shifting fork rod comprises a shifting fork lower end support, a shifting fork upper end support and an executing outer thread arranged at one end of the shifting fork upper end support; the executing motor assembly is provided with a motor end cover, a motor casing fixed to the motor end cover, a motor rotor placed in the motor casing, and a motor rotating shaft thread sleeve penetrating into the motor rotor from the motor end cover; an executing inner thread is arranged on the motor rotating shaft thread sleeve, and is matched and connected with an executing outer thread; and the shifting fork rod moves up and down and drives the shifting fork assembly to move to shift gears. The automatic transmission shifting fork gear-shifting mechanism is quick in response, accurate in executing force and displacement control, smooth in gear shifting, reduced in cost, and improved in using comfort.