135results about How to "Precise motion control" 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 present invention generally relates to an end effector that utilizes a gripping mechanism to grip a peripheral edge of the wafer and secure the wafer to the end effector. In one embodiment, the gripping mechanism includes a pair of gripper arms that pivot between a wafer-loading position and a wafer-engaging position. In another embodiment, an active plunger moves linearly between the wafer-loading and wafer-engaging positions. Both the gripper arms and the plunger device are driven by a motor assembly. A force feedback system monitors the force the gripping mechanism exerts on the wafer and, based on the amount of force, controls the operation of the motor assembly to dynamically adjust the position of the gripping mechanism.

Embodiments of the present invention are directed to compensating for force ripple of an apparatus driven by a force produced by a linear motor. In one embodiment, a method of compensating for force ripple comprises generating force commands for a trajectory starting at a plurality of starting positions of the apparatus driven by the linear motor to produce different trajectory motions based on the same trajectory at the plurality of starting positions, the force commands each including peaks of large acceleration/deceleration and valleys of low force levels; calculating an average of the force commands during large acceleration/deceleration generated based on trajectory motions for the plurality of starting positions; calculating a variation ratio of the force command for each trajectory motion to the calculated average of the force commands; and compensating for force ripple in the apparatus based on the calculated variation ratio to control the force applied by the linear motor to the apparatus.

The invention discloses an active driving ankle foot orthosis with a plantar pressure detection function. The active driving ankle foot orthosis comprises a shank fixing component, a foot sensing component and an active driving component. The active driving component drives a driving bevel gear through a direct current motor; the driving bevel gear is meshed with a driven bevel gear; the driven bevel gear is mounted on a transmission shaft; a synchronous pulley, a synchronous belt and a tensioning screw are respectively formed at two ends of the transmission shaft. Seven film pressure sensors and an accelerometer are arranged in the foot sensing component. The active driving ankle foot orthosis has the advantages that on one hand, an intelligent pressure sensing foot is designed according to body bionics, a sensing heel and a sole are mutually connected through a spring steel sheet, the segmented structure of a human foot is simulated, and toes and the sole can be freely bent during walking, and on the other hand, active driving free degree is designed on the sagittal plane of an ankle joint, foot drop of a patient is prevented, meanwhile, power for the patient to go ahead is effectively provided through the driving of the direct current motor, and the walking load of the patient is reduced.

The invention relates, to the field of motion tracking and sensorimotor assessment and training, by providing a method, system and software for tracking of a target by moving the head and neck or other body part in two or three-dimensional space. In particular the invention teaches a method to create incremental difficult classes of unpredictable movement patterns according to specific criteria. The created movement patterns can be used to accurately grade the deficits of movement control and other sensorimotor deficits of the head/neck and consequently a treatment can be prescribed which starts at each patient's impairment level by using the same method. The invention provides also a reliable and valid method to detect fraudulent neck compensation claims from genuine deficits by said assessment of sensorimotor function.

The invention belongs to the technical field of intelligent processing and manufacturing, and particularly discloses an integrated active-passive compliant one-dimensional variable force grinding andpolishing device and a control method. The integrated active-passive compliant one-dimensional variable force grinding and polishing device comprises a linear module servo motion platform, a mountingflange, a limiting plate, a position and orientation sensor, a speed-adjustable compliant grinding and polishing mechanism and a controller, and the linear module servo motion platform is used for driving the grinding and polishing mechanism to perform linear motion; the mounting flange and the limiting plate are mounted on a base of the linear module servo motion platform, and the position and orientation sensor and the speed-adjustable compliant grinding and polishing mechanism are installed on the limiting plate; and the position and orientation sensor is used for measuring position and orientation of the one-dimensional variable force grinding and polishing device and sending the position and orientation to the controller, a force sensor is arranged between the compliant grinding and polishing mechanism and sliding blocks, the force sensor is used for collecting a contact force signal and send to the controller which can calculate speed control quantity, and the speed-adjustable compliant grinding and polishing mechanism is driven to move by rotation of a servo motor according to the speed control quantity. According to the integrated active-passive compliant one-dimensional variable force grinding and polishing device and the control method, the contact status of a abrasive belt and a workpiece can be adjusted in real time, and a stable and compliant grinding and polishingprocess is realized.

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 discloses automatic brush electroplating equipment belonging to the technical field of engine reproduction equipment. The automatic brush electroplating equipment comprises a rack, wherein the rack is slidably provided with a first slide box driven by a first power device along the X direction; the first slide box is slidably provided with a second slide box driven by a second power device along the Y direction; the second slide box is slidably provided with a third slide box driven by a third power device along the Z direction; the third slide box is rotationally provided with a plating pen driven by a fourth power device and arranged along the Z direction; the side, located on the first slide box, on the rack is fixedly provided with a clamp for clamping a workpiece; and the rack is also provided with a plating solution supply and recovery system. By using the automatic brush electroplating equipment provided by the invention, automatic operation is realized, the motion control is precise, the uniformity of a plating layer is ensured, the labor efficiency is increased, and the repaired workpiece is small in size difference; and the automatic brush electroplating equipment is suitable for mass remanufacture.

The invention discloses a residual oscillation suppression method for a flexible manipulator. The residual oscillation suppression method comprises the following steps: S1, building a kinetic equation of the flexible manipulator; and S2, suppressing oscillation of the flexible manipulator through a waveform control method. The residual oscillation suppression method for the flexible manipulator can realize oscillation suppression of the flexible manipulator without an accurate physical model.

The invention discloses a laser navigation AGV high-precision positioning and target alignment control method, and relates to the technical field of mobile robot navigation. Point cloud segmentation and extraction is performed on the target environment features based on the laser point cloud to realize the capability of the AGV to acquire the target feature point cloud in real time; based on a nearest neighbor method, the problems of finding corresponding points in point cloud matching and establishing a target function are solved; a multi-resolution search matching method based on gradient point cloud density is designed, and branch and bound optimization search is carried out. High-precision and low-delay matching of the AGV for the target feature point cloud is realized, and the problemof high-precision positioning of the laser navigation AGV at a specific task point is solved; based on an AGV smooth motion controller, the capability of AGV smooth and accurate motion control to reach a target point is realized. The problems of laser navigation AGV high-precision positioning, pose alignment, charging butt joint and other target alignment control are solved, and the defects thatthe positioning precision of the SLAM technology is insufficient, and a traditional alignment control method is too high in cost are overcome.

The invention discloses a three-probe mechanical device which is applicable to traditional Chinese medicine pulse detection. The three-probe mechanical device comprises a soleplate and three worktables, wherein the three worktables are arranged on the soleplate; each worktable is connected with a connecting rod through a connecting-rod bracket, and the other end of each connecting rod is sequentially connected with a probe and a pressure sensor; each worktable is used for controlling the connecting rod which is connected with the worktable to move in X-axis, Y-axis and Z-axis directions; each connecting rod is vertically connected with the corresponding connecting-rod bracket; the three connecting rods are distributed in one plane. The three probes in the three-probe mechanical device synchronously move and can be used for simultaneously acquiring pulse-condition signals at three places at the wrist where the pulse is usually taken on the human Cunkou pulse, so that the effect of high operating speed is achieved.

The invention provides a gate channel pat door device and a control method, and belongs to the field of security and protection, entrance guard and stadium entering and exiting control of rail transit, ticket selling and checking services, buildings and specific places. The gate channel pat door device comprises a pat door. The pat door comprises a leaf blade, a leaf blade supporting column, a spring and a base. The leaf blade is fixed to the leaf blade supporting column through a fixing piece. A connecting mechanism is arranged below the leaf blade supporting column. The lower end of the connecting mechanism is fixed to the base. One end of the spring is fixed to the upper end face of the connecting mechanism, and the other end of the spring is fixed to the column face of the leaf blade supporting column.

The invention discloses an automatic dielectric material surface charge measuring device on the basis of a two-axis slide table, and belongs to the field of solid dielectric material surface charge measurement. The automatic dielectric material surface charge measuring device comprises the two-axis movement slide table, an electrometer probe support, a high-voltage electrode support and an upper PC (personal computer). A dielectric test specimen support is connected with the two-axis movement slide table and can be driven by the two-axis movement slide table to move in a plane; the electrometer probe support and the high-voltage electrode support are arranged in an upper space of the movement plane of the dielectric test specimen support; the upper PC is in communication connection with the two-axis movement slide table, the electrometer probe support and the high-voltage electrode support, and surface charge detection can be carried out on test specimens on the dielectric test specimen support by the two-axis movement slide table, the electrometer probe support and the high-voltage electrode support under the control of the upper PC. Compared with the prior art, the automatic dielectric material surface charge measuring device has the advantages that the automatic dielectric material surface charge measuring device is easy to operate and accurate in movement control; acquireddata can be processed in real time, and surface charge distribution conditions of materials can be visually displayed by the aid of software.

The invention discloses a wafer bonding process for transferring multiple wafers at one time. The process comprises a step of arranging the wafers in an array form and bonding the wafers on an adhesive layer base film with a cross-linking property on the surface, a step of obtaining the position information of at least two wafers which are to be transferred and are in a linear continuous arrangement, a step of pressing the at least two wafers which are to be transferred and are in a linear continuous arrangement by using a vacuum suction nozzle device in a direction from the wafers to the basefilm such that an adhesive layer on the base film loses viscosity, a step of starting the negative pressure of the vacuum suction nozzle device and sucking the at least two wafers which are to be transferred and are in a linear continuous arrangement on the base film which loses viscosity after the adhesive layer on the base film loses viscosity, and a step of lifting the vacuum suction nozzle device and integrally moving the at least two wafers which are to be transferred and are in a linear continuous arrangement to a substrate which is provided with a pad coated with a viscous material. According to the invention, a row of wafers can be transferred at a time, the transfer efficiency is doubled, and the time required for transferring chips is reduced.

The invention discloses a serial multi-shaft step control method and system used in solder paste printing machine. The invention cooperative controls plural key moving shafts for solder paste printing by plural working conditions of the solder paste printing machine such as initialization, waiting, automatic print, quit, configuration and so on. A DC 4-axis step servo driver in the system drives X-axis stepper motor and scraper Z1-axis stepper motor and scraper Z2-axis stepper motor of camera; a DC 4-axis step servo driver drives platform Y1-axis stepper motor, platform Y2-axis stepper motor, platform X-axis stepper motor and wide rail axis stepper motor; An AC single axis step servo driver drives camera Y-axis stepper motor. The invention can effectively improve cooperative control capacity and alignment accuracy for PCB solder paste printing machine, has less wiring, and high resistance to electromagnetic interference, compact structure and abounding control functions, and is applicable for various PCB solder paste printing machine.

A system for grinding solid workpieces includes a grinding wheel, a bearing for rotatable mounting of the grinding wheel about an axis of rotation, and a grinding wheel drive for rotating the grinding wheel. The system allows the production of freely-definable surfaces on the face of the rigid workpiece that comes into contact with the grinding wheel. The bearing is fastened to a pivotable and displaceable bearing carrier. The bearing plane is pivotable in any desired direction with respect to an initial plane and is displaceable in a direction perpendicular to the initial plane. Actuators are coupled to the bearing carrier to pivot and displace the bearing carrier. A digital control unit controls and synchronizes the actuators such that the surface of the grinding wheel creates a freely-definable face about a positionally fixed reference point which is at a radial distance from the center point of the grinding wheel.

A method of deriving a thrust constant representing an occurrence rate of a thrust in relation to a current in a linear motor which includes a magnet extending in a movement direction, and a moving body which includes a coil mounted to a track member in a movable manner, the linear motor generating a thrust in the movement direction between the magnet and the coil by causing the current to flow in the coil, in which an average thrust constant which is an average thrust constant in a long movement zone on the track member is derived based on actual measurement, local thrust constants which are local thrust constants of a plurality of locations on the track member are derived based on each actual measurement, and the thrust constants are derived based on the average thrust constant and the local thrust constant of each location.

The invention discloses a rope driving device for improving the control accuracy. The rope driving device comprises a transmission wheel driven to rotate by a motor, a reel rotating along with the transmission wheel, and a rope wound on the reel; the reel can move relative to the transmission axle in the rotating process, and a spiral clamping groove used for clamping the winding of the rope is formed in the surface of the reel; and the axial movement rate of the reel is the same as that of the rope in the clamping groove, through the synchronous movement of the separation point of the reel and the rope, the swing of the rope relative to the reel is eliminated, and the output of the rope can be accurately controlled accordingly. The rope driving device has the key advantages that the rotating angle of the reel is linearly related to the input and output amount of the rope, the rope driving device is easy to control, compact in structure and easy to maintain, and the control accuracy ofthe rope is greatly improved.