17results about How to "Improve Motion Control Accuracy" patented technology

This invention discloses a plug-and-play modular rope-driven robotic arm resistant to stress abrupt changes, comprising a movable arm segment and a drive mechanism. The movable arm segment can be used in two ways: as a single application and as a whole application formed by quick-assembly and disassembly connection of multiple movable arm segments. The movable arm segment is equipped with a rope drive mechanism for controlling the rotation of the movable arm segment, and both ends of the control rope of the rope drive mechanism are equipped with main quick-assembly and disassembly connectors. The drive mechanism includes Bowden lines and drive ropes that can control the extension and retraction states of both ends. One end of the Bowden line is equipped with a telescopic section that can adaptively extend and retract, and the telescopic section is connected to the drive mechanism. Both ends of the drive rope pass through the two Bowden lines and are connected to auxiliary quick-assembly and disassembly connectors, which are quickly assembled and disassembled with the main quick-assembly and disassembled connectors. By adopting this solution, the problem that the existing technology cannot simultaneously achieve the convenience of "plug and play" and the stability of "resistance to stress abrupt changes" can be solved.

The application discloses an axial flux motor and a stepping control method thereof, and adopts a stepping control mode to realize accurate control of the motor. By acquiring operation parameters of the axial flux motor, initial angle and stepping angle of the axial flux motor are determined, and then the energization period of the axial flux motor is determined, a stator excitation waveform image is drawn, three-phase current for controlling the axial flux motor is generated, and the PWL function is used to realize stepping rotation of the axial flux motor. The technical scheme has the advantages of high precision, the rotation angle and speed of the axial flux motor are accurately controlled by controlling the number and frequency of current pulses, high-precision position positioning and motion control are realized, and the axial flux motor is suitable for application occasions such as communication and data transmission gimbals as a driving motor.

The invention relates to the technical field of industrial robot load identification, in particular to a six-degree-of-freedom robot end load parameter identification method, which comprises the following steps: establishing a six-degree-of-freedom series robot dynamical model, reconstructing a load minimum parameter set, and determining that identification can be completed only by exciting a third joint, a fifth joint and a sixth joint. Designing four groups of symmetric excitation trajectories combined by Fourier series and quintic polynomials, and performing discrete sampling to generate an observation matrix; optimizing a load parameter set and a regression matrix, and reducing the condition number of an observation matrix; a load minimum parameter set is obtained through difference calculation of the no-load identification result and the on-load identification result; and based on the parameter set, solving the mass, the mass center coordinate, the inertia moment and the inertia product of the load. The method solves the ill-conditioned problem of a regression matrix by reconstructing the minimum parameter set, reduces the number of excitation joints, does not need to depend on a robot body kinetic model, and has the advantages of high identification precision, high stability, low experiment complexity and high efficiency.

The invention discloses a multi-head embroidery machine and a dual-drive-shaft clutch mechanism thereof, and belongs to the technical field of embroidery, an axial clutch piece moves in the axial direction in the clutch process so as to realize transmission separation of one of a first drive shaft and a second drive shaft and transmission connection of the other one; the driving shaft positioning structure is used for achieving circumferential positioning of the first driving shaft and the second driving shaft after transmission separation with the axial clutch piece so as to limit rotation of the first driving shaft or the second driving shaft. Therefore, one of the first driving shaft and the second driving shaft which are separated from the axial clutch piece can be circumferentially positioned, so as to ensure that convex teeth and tooth grooves between the axial clutch piece and the first driving shaft and between the axial clutch piece and the second driving shaft are meshed again during next clutch.

The invention belongs to the technical field of industrial automation and intelligent manufacturing, and particularly relates to a robot ultrasonic polishing method, device and system.The robot ultrasonic polishing method comprises the steps that a robot ultrasonic polishing tool is calibrated, a polishing workpiece is positioned, and the position of the polishing workpiece under robot base coordinates is determined; based on the model information of the to-be-polished workpiece, a polished workpiece model is constructed and analyzed; based on the to-be-polished workpiece model analysis information, a polishing area is divided, and an ultrasonic polishing path of the robot is planned; interference analysis of the path points is carried out on the planned polishing path, and robot ultrasonic polishing of the workpiece is carried out according to the interference analysis result of the path points; and the polishing effect of robot ultrasonic polishing is evaluated, closed-loop feedback of robot ultrasonic polishing is conducted in combination with the polishing effect evaluation result, and robot ultrasonic polishing technological parameters are adjusted in real time according to the feedback result.

The application relates to the field of intelligent control of automobiles, and discloses a longitudinal-lateral composite telescopic control method for relieving parking pressure, which mainly solves the problem that existing vehicles are difficult to park in narrow parking spaces due to fixed sizes. The method compares target parking space sizes with vehicle sizes, dynamically generates a longitudinal-lateral adaptive contraction strategy, and controls the chassis to cooperatively contract the vehicle body based on closed-loop compensation and time sequence decoupling logic control after pre-verification through safety interlocking inside and outside the vehicle, so that component interference is avoided; after contraction and locking, the system dynamically reconstructs updated chassis dynamics model parameters such as wheelbase, track and center of mass; and the optimal trajectory is replanned based on the reconstructed parameters, and the vehicle is automatically parked in the target parking space.

The embodiment of the invention provides a self-adaptive motion control method of a humanoid robot and related equipment, and belongs to the technical field of robots. The method comprises the following steps: acquiring multi-modal input data, wherein the multi-modal input data comprises state data of the humanoid robot and surrounding environment data; performing feature extraction on the multi-modal input data to obtain multi-modal fusion features; performing feature recognition on the multi-modal fusion features to obtain a recognition result representing motion interaction logic of the humanoid robot and the environment; and performing adaptive adjustment on the degree-of-freedom coefficients of different joints according to an identification result, and generating a robot motion control instruction. According to the embodiment of the invention, the adaptability of the humanoid robot to different scenes and the motion control precision of the robot can be improved.

This invention proposes a method and system for identifying and cleaning filter plate contaminants, belonging to the field of filter plate contaminant cleaning technology. The method includes: identifying contaminants on the filter plate; determining the position, size, and shape of individual contaminants; covering each contaminant using the minimum circumcircle method; determining the coordinates and radius of the minimum circumcircle center of each contaminant; determining the cleaning sequence of all contaminants; identifying multiple key points within the minimum circumcircle of each contaminant; calculating the robot arm joint angles at each key point on each contaminant using an inverse kinematics algorithm; obtaining the optimal pose of the robot arm at each key point when cleaning all contaminants; and controlling the robot arm to perform targeted cleaning of the multiple key points corresponding to each contaminant based on the optimal pose of the robot arm at each key point when cleaning all contaminants. This invention enables targeted cleaning of contaminants, improving cleaning effectiveness, efficiency, and results.

The utility model relates to the field of building engineering vibration technology discloses a prefabricated part is with vibration quilting frame machine equipment, including mobile structure, transmission structure, lifting structure and mounting structure, the mounting structure includes mounting bracket, second screw rod, hand shake regulator and threaded plate, the mounting bracket fixed mounting is in the sliding block, the hand shake regulator passes through second screw rod installation threaded plate, the bottom fixed mounting of threaded plate has the placement pipe, the top of inside the placement pipe is equipped with damping spring, the bottom of placement pipe is provided with the clamping plate, the lateral wall fixed mounting of placement pipe is equipped with the fixed frame, the sliding setting bolt is in the fixed frame, the lateral wall of mounting bracket is provided with and the limiting hole of bolt adaptation. The utility model through the setting mounting structure, realizes vibration rod quick steady installation, and the multidimensional movement structure that crossbeam, the hanging board and sliding block constitute, can make vibration rod all -round coverage material in the mould, and the operation is convenient and efficient.

This invention discloses a bionic robotic hand and its control method, belonging to the field of bionic robotic hand technology. It includes a hand base and four-finger components. The hand base is divided into a palm layer, a middle layer, and a back layer along its thickness from the palm side to the back side. The palm and back layers have routing channels for flexion-extension drive lines, while the middle layer has a routing channel for lateral swing drive lines. The routing channels in the palm, middle, and back layers are not interconnected. By constraining the drive lines for finger flexion-extension within the palm and back layers, and constraining the drive lines for finger lateral swing within the middle layer, the two types of drive lines are located in different spatial planes within the hand. This eliminates spatial interference of drive lines during multi-degree-of-freedom linkage from the structural source, achieving interference-free independent transmission of flexion-extension and lateral swing movements throughout their entire stroke.

This invention discloses a method for pose estimation of a cross-medium wired robot based on an optical fiber shape sensor. The method includes: placing two non-collinear supports within the cross-medium wired robot; a solenoid is mounted on the outer wall of each support; an optical fiber shape sensor extends into the solenoid along its extension direction, with the remaining portion of the optical fiber shape sensor bundled with other cables to extend to the main control device; reconstructing the three-dimensional shape of the optical fiber shape sensor to obtain a measurement point cloud characterizing its shape; calculating the curvature distribution based on the reconstructed shape; segmenting the measurement point cloud according to index values ​​and curvature; extracting the central axis direction vector of the measurement point cloud located within the solenoid as its initial pose; precisely registering this segment of the point cloud to the geometric model of the solenoid; calculating the six-degree-of-freedom precise pose to obtain the robot's pose in the world coordinate system. This invention enables high-precision, highly interference-resistant pose estimation for cross-medium wired controlled robots.

The invention discloses an industrial robot kinetic parameter identification and optimal friction model selection method, and relates to the technical field of robots. The method comprises the steps that a robot dynamic model containing unknown parameters is decoupled into a friction-free model and a joint friction model, a non-linear friction model candidate set is established, and iteration is conducted on the nth candidate model: in the tth round, an expansion model is obtained through the friction-free model and the linear friction model, a first parameter is obtained based on the expansion model and a torque actual measurement value, and a second parameter is obtained based on the first parameter; eliminating linear friction parameters to obtain inertial parameters; obtaining a first model through the inertial parameters and the candidate model, obtaining a likelihood function according to model output and a prediction error of a torque measured value, and solving friction parameters; and fusing the two parameters to obtain a (t + 1) th round model, if an error of adjacent rounds is smaller than a threshold value, determining the model as an nth candidate model, otherwise, continuing iteration. Candidate model comprehensive indexes are obtained according to the robustness and precision indexes, the model with the lowest comprehensive index serves as the target model, and the robot dynamics modeling refinement degree and accuracy can be improved.

This invention relates to a driving unit, a driving device, a camera module, and a method for manufacturing the driving unit. The driving unit, used to drive optical elements, includes a substrate, a coil, a magnet, and a magnetic component. The coil is fixed to the substrate, and the coil and magnet are spaced apart along a first direction. The center of the magnet is located on a second bias side of the coil's center. When the coil is energized, it can drive the magnet to move relative to the coil. The magnetic component is fixed to the coil and / or the substrate, and its center is located on a first bias side of the coil's center to enhance the driving force between the portion of the coil on the first bias side and the magnet. The first bias side and the second bias side are opposite sides of the coil's center along a third direction, which is perpendicular to the first direction. The magnetic component increases the driving force generated by the coil on the first bias side, thus symmetrically controlling the driving force on both sides of the coil.

The utility model discloses a laser scanning digital galvanometer motor feedback structure and a galvanometer motor in the technical field of galvanometer motors, the feedback structure comprises a motor rear cover, a motor shell, a motor shaft, a photoelectric plate, a grating disc, a reading head and a screw, the motor rear cover directly or indirectly covers a rear opening of the cylindrical motor shell; the photoelectric plate is perpendicular to the axis of the cylinder body and is arranged between the motor shaft and the motor rear cover, a gap is reserved between the photoelectric plate and the motor shaft, the grating disc is directly or indirectly arranged on the motor shaft by using a screw and coaxially rotates with the motor shaft, and the reading head is welded on the photoelectric plate by facing a track of the grating disc and also keeps a gap with the motor shaft. The grating disc is directly or indirectly fixed on the rear end face of the motor shaft by taking the axis point of the grating disc as the center of circle, the scheme solves the problem of poor fixation of the grating disc and the motor shaft in the prior art, and achieves the beneficial effects of enhancing the stability, improving the performance and simplifying the structure.

The application discloses a kind of AGV trolley trajectory deviation calculation method for differential chassis, it belongs to the field of electromechanical control technology.The present application solves the problem of existing method, such as trajectory is not adjustable, poor motion stability.The method of the present application first constructs the kinematic model and control model of AGV trolley of differential chassis, and establishes trajectory deviation calculation model based on kinematic model, control model and cascade PID control.According to trajectory deviation calculation model, the deviation between the predetermined trajectory and the actual trajectory during the process of AGV trolley of differential chassis passing through the bend can be calculated, and the trajectory deviation value of each trajectory is obtained, and then the best trajectory is selected, which helps to improve the motion control accuracy and stability of AGV trolley.The method of the present application can be applied to the trajectory selection of AGV trolley of differential chassis.

The application relates to the technical field of robot control, in particular to a robot motion planning and control algorithm system improved in an algebraic algorithm, which comprises a parameter acquisition module, a residual error calculation module, a potential energy analysis module, an instruction point updating module and a control execution module. According to the application, the dynamic residual error between actual motion and a theoretical model is calculated by collecting joint angle and torque signals in real time, and an algebraic potential energy field capable of quantitatively describing motion stability risk is innovatively constructed based on the residual error; then, the potential energy size of each instruction point, the potential energy gradient change between adjacent points and the key torque change rate residual error are taken as core features and input into a Bayesian judgment model to accurately perform posterior probability evaluation on the reliability of each instruction point, so that low-potential energy points are used to replace potential unstable instruction points in a planning track in a forward-looking manner, and finally an optimized track with smoothness and safety is generated before motion execution.