3results 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.

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 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.