5results about How to "Mechanical" patented technology

本发明涉及工业机器人与智能控制技术领域，具体为一种基于强化学习的工装机械手抓取轨迹规划方法，包括：获取工装机械手运动状态序列、目标负载空间描述数据和物理属性数据；确定起始位姿和目标位姿，生成理想基准轨迹；注入负载质量、惯量、重心偏移及关节摩擦、扭矩上限和避碰限制，生成理论受限轨迹；解算实际执行轨迹，生成实际偏差序列和理论偏差序列；映射为相空间轨迹并计算距离度量，输出轨迹相似度和有效性判定结果；依据判定结果调整奖励信号并更新强化学习代理策略参数，输出抓取轨迹规划结果，以区分合理偏置与危险偏置。

The invention discloses a drag chain internal spacer structure facilitating threading, and belongs to the technical field of drag chain cable protection devices. Comprising two drag chain links, two connecting strips are fixedly connected between the two drag chain links, limiting grooves are symmetrically formed in the inner side walls of the connecting strips, a spacer group is slidably connected between the two connecting strips, and clamping grooves are formed in the right sides of the outer side walls of the drag chain links; according to the drag chain internal spacer structure, the flexibility and adaptability of cable threading and space separation in the drag chain can be remarkably improved, and the problems that a traditional drag chain spacer is fixed, and the separation number and distance cannot be adjusted according to needs are effectively solved. According to the spacer set, the middle clamping plate serves as a core, the spacer set is matched with the movable partition side plates on the two sides, the spacer set can be combined into an integral spacer, the requirement for concentrated penetrating and placing of thick cables or a small number of cables is met, rapid unlocking and separation can be achieved, multiple sets of independent spacers are formed, and classified and ordered arrangement of multiple specifications and a large number of cables is achieved.