112results about How to "Improve Motion Control Accuracy" patented technology

Embodiments of the present invention provide methods and apparatus wherein physics models are integrated with motion capture animation to allow for variability in animations, dynamic response, such as animating events different from those for which motion capture data was obtained, including changes in character purpose and collisions. The physical model may include sets of internal forces and/or external forces. To facilitate the integration of mo-cap animation data with physics models, mo-cap animation data is played back using forces on physical models rather than directly setting joint angles or positions in a graphical skeleton, which allows the animation to be dynamically altered in real-time in a physically realistic manner by external forces and impulses.

The invention provides a surgical robot adjustment system. Each mechanical arm is provided with an optical target lens, positions and Euler angles of the optical target lenses are measured by an optical tracking instrument, a calculation module calculates according to measured values to obtain a posture mapping relation of the optical target lenses, and a posture mapping relation of surgical instrument arms is obtained by calculation according to the posture mapping relation of the optical target lenses and a posture mapping relation between the surgical instrument arm of each mechanical arm and the optical target lens on the corresponding mechanical arm. A surgical robot controls postures of corresponding surgical instrument arms according to the posture mapping relation of surgical instrument arms, and accordingly movement control precision of the surgical robot is improved.

The invention relates to an intelligent vehicle carrier and a control system and a control method thereof. The intelligent vehicle carrier comprises a travel driving motor, a knockout plate driving motor and a holding arm driving motor, which are all servo motors. The control system comprises a motion controller as the core cell and a plurality of peripheral modules which are connected with the motion controller so that the motion controller can carry out data exchange with the outside. The motion controller comprises a DSP module which is mainly in charge of logical flows and a logical operation module which carries out concrete logic implementation and logical output. The DSP module is connected with the logical operation module. Relative to the prior art, the invention has the followingbeneficial effects: as the servo motors are adopted as power components, the overall height of the intelligent vehicle carrier can be lower, and the motion control precision and response speed are higher; the control system has clear architecture and higher reliability, stability and working efficiency.

A rope parallel robot for overhauling a large vertical storage tank comprises ropes, rope driving units, rope guide devices, a work platform, supporting rods, fixing pieces, a control system and other parts, the number of the ropes is eight, the number of the rope driving units and the number of the rope guide devices are eight correspondingly, and the rope driving units and the rope guide devices are installed on the outer side of the vertical storage tank and make the work platform to move along the outer side sector cylindrical face of the vertical storage tank with a certain load. The rope parallel robot is demounted and built on the outer side of the vertical storage tank multiple times so that the overhauling work of all the outer surfaces can be achieved; furthermore, a position sensor or a force sensor can be installed in a matched mode to improve the safety performance of the system. The standardized and modularized technology can be used, the varieties of parts in the system can be reduced, the universality among parts is high, and the rope parallel robot can adapt to the overhauling work of vertical storage tanks ranging from 10 m to 80 m.

A bionic-tentacle-based robot autonomous navigation method is disclosed, according to the autonomous navigation method, a ''bionic tentacle'' model is disclosed from the point of view of bionics for understanding of sensor information, the autonomous navigation method comprises four walking behavior manners and six behavior trigger conditions, the walking behavior manners comprise aligned steering, straight advancing, avoiding and turning and arc circumvent, the behavior trigger conditions comprise alignment condition, yawing condition, meeting condition, avoiding condition, breaking-away condition and end condition, a bionic tentacle is used for perception of unknown environment around for real-time stimulation and triggering of a corresponding walking behavior, the whole process is designed based on bionics, the bionic-tentacle-based robot autonomous navigation method is suitable for a determined-target-point autonomous navigation task for a robot in unknown environment, can ignore obstacle edge shape restrictions, and is well adaptable to complex obstacle situations.

The invention discloses a fruit and vegetable picking robot and a control method thereof. The fruit and vegetable picking robot includes a mobile platform, a picking mechanical arm, a picking hand, acontrol system and a trailer. The mobile platform is connected with the trailer. The picking mechanical arm is installed on the mobile platform, and the picking hand is installed at the tail end of the mechanical arm. An eye-in-hand camera for obtaining pose information of a target object is mounted at the edge of the picking hand, the picking hand is provided with a vacuum picking device for picking fruits and vegetables, and the vacuum picking device conveys the fruits and vegetables to the trailer through vacuum tubes. A parallel adjusting mechanism is driven by six servo electric cylindersto realize the six-degree-of-freedom pose adjustment of the camera. The control system is used for processing the generation and transmission of camera image information and pose adjustment commands.The fruit and vegetable picking robot has the advantages of low cost, high precision, wide application range and the like, and is conveniently used in the picking process of various agricultural fruits and vegetables.

The invention discloses an omnidirectional moving platform and a dynamic universal wheel thereof. The dynamic universal wheel comprises an upper frame, a lower frame, a roller, a first motor and a second motor, the lower frame is rotatably connected to the upper frame, the roller is rotatably mounted to the lower frame, the first motor is mounted on the upper frame and used for driving the lower frame to rotate, the second motor is connected with the roller to drive the same to roll, and rotating of the lower frame and rolling of the roller are controlled independently through the first motor and the second motor respectively. When the omnidirectional moving platform runs, degrees of freedom of steering and driving motion are not coupled, so that no extra rolling motion of the roller is output during steering motion; a special mechanism does not need to be added for decoupling, so that the omnidirectional moving platform is simple in structure, free of lateral sliding during running, smooth in steering motion and high in motion control accuracy.

The invention discloses a motion control system and method of a mobile robot in an intelligent space. The motion control system is composed of the intelligent space and the mobile robot. The intelligent space comprises a monitoring host, a distributed visual system and a wireless sensor network system based on Zigbee. The motion control method of the mobile robot in the intelligent space comprises the steps that pose information of the mobile robot is obtained at first; then control deviation e of the mobile robot is obtained; mobile robot multi-objective self-regulation PID motion control based on an RBF identification network is conducted at last. Compared with an existing mobile robot control system based on a vehicle-mounted video, the motion control system and method of the mobile robot in the intelligent space have the advantages of being small in calculated amount, good in instantaneity, and more accurate in motion control.

The invention provides a snake-shaped surgical robot applied to minimally invasive surgery. The snake-shaped surgical robot comprises a sliding table module, a pulley module connected to the sliding table module in a sliding manner, a driving module arranged on the pulley module and a mechanical arm connected with the pulley module, wherein the driving module provides power for the mechanical armthrough the pulley module; the mechanical arm comprises an operation actuator, a first joint which is connected with the operation actuator and can do bending motion, and a second joint which is connected with the first joint and can do swinging motion, wherein the first joint is of a continuum structure, and the second joint is of a gear meshing structure. The mechanical arm is formed by matchingthe continuum structure and the gear meshing structure; the rigidity of the mechanical arm is effectively improved in the premise that the flexible movement and the deformation capability of the tailend of the mechanical arm can be ensured; and moreover, the coupling effect of the mechanical arm of an existing surgical robot can be achieved or improved, and the motion control precision of the mechanical arm is improved. Compared with the existing surgical robot, the snake-shaped surgical robot is high in operability.

The invention discloses an ion implanter scanning device and a scanning method. The scanning device comprises a fixed base, a vertical scanning mechanism which is installed on the fixed base and capable of moving up and down along the fixed base vertically, a horizontal rotation mechanism which is installed on the vertical scanning mechanism and can horizontally rotate and a scanning shaft which is installed on the horizontal rotation mechanism; the top end of the scanning shaft is provided with a target platform which can rotate along with the scanning shaft and used for clamping a wafer; an angle adjusting mechanism which adjusts the chip gradient is installed on the target platform to rectify an iron implantation angle. The scanning method comprises arranging an implantation angle theta firstly and calculating the scanning stroke s and the scanning times n; enabling the target platform 4 to rotate by an angle alpha to perform angularity correction, enabling the target platform 4 to incline to the implantation angle theta and finally aching scanning. The scanning device and method can achieve target platform vertical direction scanning movement, meanwhile can enable the target platform to rotate surrounding the scanning shaft through the horizontal rotation mechanism to perform angle correction and can achieve more accurate implantation angle control.

The invention provides an omnidirectional wheel which comprises a plurality of driven wheels, a wheel hub and two end covers, wherein each driven wheel comprises a support shaft, a support sleeve, a rubber sleeve, two linings and two bearings; the support shaft sequentially passes through one lining, one bearing, the support sleeve, the other bearing and the other lining; the two bearings are clamped at two ends of the support sleeve, so that the support sleeve can not generate displacement in radial and axial directions relative to the support shaft; the outer ring of each bearing can rotate relative to the support shaft, and the inner ring of each bearing is relatively fixed with the support shaft; and one side of each lining is clamped in the wheel hub, and the other side of each lining clamps the inner ring of each bearing. The omnidirectional wheel provided by the invention overcomes the defects that the existing omnidirectional wheel is poor in motion control precision and the driven wheels stall and are not convenient to disassemble and assemble.

The invention relates to a jellyfish imitating underwater propelling device, in particular to a jellyfish imitating underwater propelling device driven by embedded flexible joints. The problems that an existing bionic machine jellyfish is complex in mechanical structure, low in system integration degree, low in propelling efficiency and limited in motion control precision, and the propelling behavior of a propellier body and the movement behavior of a real jellyfish in the natural world are quite different are solved. The jellyfish imitating underwater propelling device comprises a power and control module, and further comprises an enterocoelia end cover, a bionic flexible body, an enterocoelia base and N flexible piezoelectric fiber composite material drive joints. The N flexible piezoelectric fiber composite material drive joints are evenly distributed and embedded in the side wall of the bionic flexible body in the circumferential direction, the enterocoelia base is embedded into the bottom of the bionic flexible body, the open end of the enterocoelia end cover covers the open end of the enterocoelia base, the enterocoelia end cover and the enterocoelia base are in detachable sealing connection, and each tentacle of the enterocoelia base is provided with one corresponding flexible piezoelectric fiber composite material drive joint. The device is used for the field of ocean scientific investigation and the like.

The invention discloses high-efficiency automatic sampling inspection equipment for SMD material tray, which is characterized in that the sampling inspection equipment comprises a material belt positioning unit, a detecting unit, a pickup unit and a component box; wherein the material belt positioning unit is used for fixing and positioning the material belts with different widths; the components on the material belt are picked through the pickup unit; furthermore the components are transferred to the detecting unit in high precision for realizing quick inspection for component parameters; and afterwards, successively placing the components after inspection into the component box. The high-efficiency automatic sampling inspection equipment can realize quick automatic sampling inspection on rolled SMD material trays, and has advantages of high-efficiency inspection, simple structure, convenient use, etc.

The invention discloses a double-motor drive control method on a real-time control network basis for improving the kinematic accuracy. The method comprises the following steps: 1) establishing the communication between a motion control card and a D/A converter based on a SynqNet real-time control network; 2) operating the motion control card to allow the D/A converter to output the same motion commands to two motor drivers; 3) operating the two motors respectively to drive two gears on the same rack, wherein the driving power is shared by the two motors; 4) operating the two motor drivers to control the two motors respectively and output the same adjustable bias torques in the opposite direction; 5) allowing the two motors to make the strictly synchronous movement by intersecting and accumulating the outputs from a synchronous compensator and the two motors; and 6) arranging a linear grating on the rack, wherein the position measurement information of the linear grating is input to the motion control card to achieve the effect of closed-loop control. The double-motor drive control method on a real-time control network basis greatly increases the accuracy of the rack-gear transmission system, ensures the adjustable bias torque, meets different requirements for load and speed and has good real-time property, controllability and reliability.

The invention discloses a direct-drive switched reluctance planar motor, which belongs to the field of electromechanical research. The motor is characterized in that a right lug boss 33 and a left lug boss 34 are arranged on the two sides of a rotor core 32 and matched with a rotor buckle to fix an XA-phase rotor 24, an XB-phase rotor 19, an XC-phase rotor 15, a YA-phase rotor 23, a YB-phase rotor 16 and a YC-phase rotor 26 on a rotor rack 17; the height of the rotor buckle is 0.3 to 0.5mm less than those of the right lug boss 33 and the left lug boss 34; a first right connecting plate 36, a second right connecting plate 37, a first left connecting plate 38 and a second left connecting plate 39 are arranged on the two sides of a rotor rack plate 35; on one hand, the first right connecting plate 36, the second right connecting plate 37, the first left connecting plate 38 and the second left connecting plate 39 are fixedly connected with the rotor rack plate 35; on the other hand, the connecting plates are also fixedly connected with a first straight bearing 29, a second straight bearing 2, a third straight bearing 18 and a fourth straight bearing 20; and thus the rotor rack 17 can flexibly move along a first guide shaft 4 in x direction and a second guide shaft 13 in the x direction.

The invention discloses a synchronous coordinated sliding-mode control method for a series-parallel automobile electrophoretic coating conveying mechanism based on a comprehensive error. The synchronous coordinated sliding-mode control method comprises the steps of firstly, building a kinetic model of the mechanism by adopting a Lagrangian method, and performing motion trajectory planning on the mechanism; providing a comprehensive error combining a tail end tracking error and a contour error of the mechanism in allusion to structural characteristics and movement characteristics of the mechanism in order to improve the trajectory tracking accuracy of the tail end of the mechanism loaded with an automobile body-in-white for coating and conveying in the operating process of the conveying mechanism, and designing a synchronous coordinated sliding-mode controller based on the comprehensive error; and finally, and realizing comprehensive error based synchronous coordinated sliding-mode control for the conveying mechanism through software programming. The synchronous coordinated sliding-mode control method realizes control based on the comprehensive error, can effectively improve the motion control precision of the tail end of the conveying mechanism and realizes high-precision automobile electrophoretic coating conveying.

The invention discloses a silicon slice ejection mechanism, comprising a base, a drive mechanism, a guide mechanism, a connection plate and an ejection pin, wherein the drive mechanism is fixed on the base; the ejection pin and the guide mechanism are fixed on the connection plate; the silicon slice ejection mechanism also comprises a flexible suction plate; the flexible suction plate is arranged at the top of the ejection pin and connected with the ejection pin; and the connection height of the inner side of the flexible suction plate is smaller than the height of the top surface of the ejection pin. The flexible suction plate is additionally arranged at the top of the ejection pin; compared with a nonmetallic material in the prior art, the flexible suction plate is softer and can be in tight fit with a warping sheet and an ultra-thin sheet to achieve a vacuum and leak-proof effect, and thus the effective adsorption of the silicon slice is ensured.

The present invention relates to a surgical instrument platform including a base, an adjusting assembly and an instrument assembly. The adjusting assembly is disposed on the base and is composed of amechanical arm; and the instrument assembly includes a surgical instrument and an instrument platform, the surgical instrument is detachably disposed on the instrument platform, the instrument platform is connected with the end of the mechanical arm, the surgical instrument includes an operation end, a connecting assembly and an end executor connected in sequence as well as a sensing component, adriving component, a transmission component and a control component, wherein the connecting assembly includes a first connecting structure and a second connecting structure, the near end of the firstconnecting structure is connected with the operation end, the far end of the first connecting structure is connected with the instrument platform, the far end of the second connecting structure is connected with the end executor, and the near end of the second connecting structure is connected with the instrument platform. The sensing component detects the movement of the first connecting structure, and the control component controls the driving component to drive the second connecting structure to move by virtue of the transmission component according to the movement of the first connecting structure. The surgical instrument platform has the advantages of higher precision and reliability as well as labor saving and convenience in surgery operation.

The invention provides a motion control device and method for a patient moving bed board and a computer program. The method comprises the step that an incremental encoder is endowed with an initial position value so that when the patient moving bed board starts to move from the initial position, the initial value of the incremental encoder is the initial position value, wherein the initial position value is obtained after error correction of a position absolute value read by an absolute value encoder at the initial position according to a pre-stored error curve; the error curve is a curve, changing with positions, of the position absolute value relative to a corresponding displacement increment value, the curve comprises a starting displacement section, an intermediate displacement sectionand an end displacement section which are continuous in sequence, the difference is larger than 0 at the starting displacement section and the end displacement section, and the difference is smallerthan or equal to 0 at the intermediate displacement section.

A walking control system for a robot comprises a plurality of infrared light sources arranged in ceilings of each room or corridor, a wheeled robot and a console, wherein the wheeled robot can be used for moving from a first position to multiple different second positions, the infrared light sources are arranged in walking paths from the first position to the second positions, the wheeled robot comprises a control unit, a recognition unit and a moving unit, one moving path is formed from the first position to each second position, and the console forms multiple different infrared light source light-emitting combinations through controlling on or off of the infrared light sources. Each infrared light source light-emitting combination corresponds to one moving path, so that selection of the walking paths of the robot is completely realized through the console, the intelligence requirement for the wheeled robot is greatly reduced, the manufacturing cost of the robot is saved, and basic requirements for control accuracy and running efficiency can be met.

The invention discloses a coupling forward feedback control method aiming at a robot. The coupling forward feedback control method comprises the following steps: step 1, connecting each joint servo driver of the robot with a PID (Proportion Integration Differentiation) feedback controller and a speed and acceleration forward feedback controller; step 2, taking expected rotation angles of other joint motors except a controlled joint motor as first-order and second-order differentials; multiplying the first-order differential by a corresponding speed forward feedback gain and multiplying the second-order differential by a corresponding acceleration forward feedback gain; summarizing to obtain a coupling forward feedback control instruction; step 3, adding a feedback control instruction and aforward feedback control instruction obtained by step 1, and the coupling forward feedback control instruction obtained by step 2, and outputting to a servo driver of the controlled joint motor. By adopting the method disclosed by the invention, coupling disturbance between joints can be compensated in real time, without the need of complicated dynamic calculation, so that the movement control precision of the robot in high-speed and high-acceleration application scenarios is improved.