5results about How to "Realize motion control" patented technology

The application provides a motion control method and device, electronic equipment and storage medium, and relates to the technical field of artificial intelligence. The method comprises the following steps: acquiring self-state data of a robot; inputting the self-state data of the robot into a motion control model to obtain a motion control instruction output by the motion control model; wherein the motion control model is obtained by training an original control model according to sample self-state data and sample control instructions; the original control model is obtained by distillation training of a diversity motion expert policy network; the diversity motion expert policy network is obtained by reinforcement learning training based on sample complete state data related to diversity motion of the robot; and the robot is controlled according to the motion control instruction. The state data available for the robot can be used to realize motion control, and the method can be directly applied to system deployment of the robot.

The application discloses a kind of robot gripper device and grabbing method for assisting spraying operation, device includes main gripper module, auxiliary gripper module, deflection angle adjusting module, rotation angle adjusting module, pitch angle adjusting module, auxiliary gripper movement module, drive module, motion transmission module, by drive module through motion transmission module, pitch angle adjusting module, auxiliary gripper movement module action is realized, combined with deflection angle adjusting module, rotation angle adjusting module itself action, realize the relative pose adjustment of main gripper module, auxiliary gripper module and the grabbing of part to be sprayed;Method is based on deep learning network to generate grabbing posture, finally through the cooperation of main gripper module and auxiliary gripper module, the grabbing of specific position such as part non-spraying surface is completed.The application design is novel, and flexibility is high, can realize more complex grabbing action, and auxiliary realization is to complex shape part multidirectional spraying operation.

The application discloses a wind turbine nacelle mechanical arm high-precision adaptive control method, device, equipment, medium and product suitable for a rocking base, relates to the offshore wind power technical field, and the method comprises the following steps: obtaining acceleration data, temperature data and current data; the acceleration data is subjected to frequency domain analysis and filter separation treatment, and disturbance acceleration is obtained; inertia disturbance torque corresponding to each joint is determined based on the disturbance acceleration; the inertia disturbance torque is converted into corresponding compensation current values, and the compensation current values are superimposed into the driving current of the corresponding joint to obtain the driving instruction after compensation; the actual length of the connecting rod is obtained by operating based on the temperature data, the current data, the connecting rod material parameters and the reference temperature, and the kinematics parameters of the mechanical arm are updated based on the actual length of the connecting rod to obtain the corrected kinematics model; the driving instruction of each joint is generated based on the driving instruction after compensation and the corrected kinematics model. The method can effectively improve the operation precision of the mechanical arm under the rocking working condition.

This application relates to the field of device control, and provides a control method, device, and storage medium for a mobile device. The method is applied to a remote control device communicatively connected to the mobile device. The remote control device includes a first joystick and a second joystick. The mobile device includes a body and a shooting device. The shooting device is connected to the body and can rotate its viewing angle relative to the body. The method includes: when the mobile device is in a viewing angle control mode, acquiring a first remote control signal from the first joystick and acquiring a second remote control signal from the second joystick, wherein the first remote control signal is used to change the viewing angle of the shooting device and / or to control the movement of the mobile device; correspondingly, the second remote control signal is used to control the movement of the mobile device and / or to change the viewing angle of the shooting device; sending the first and second remote control signals to the mobile device; wherein the viewing angle control mode is a mode in which the viewing angle of the shooting device is changed by the remote control device.

The application provides a robot motion control method, an electronic device and a computer readable storage medium, and relates to the technical field of mechanical control. The method can obtain a target function relationship corresponding to the position relationship of each joint axis of a three-axis mechanical arm through a geometric constraint function, an algebraic constraint function and an initial function relationship. Therefore, the kinematic inverse solution of the target function relationship corresponding to the position relationship can be performed according to the position relationship of each joint axis in the three-axis mechanical arm to be controlled, the value of each joint angle in the three-axis mechanical arm is obtained, and the motion control of the robot is realized according to the value of each joint angle. The reference function relationship is deformed under different joint axis position relationships, the target function relationship under different position relationships is obtained, the motion control problem is converted into a mathematical problem for solving, the kinematic inverse solution problem of the three joints is effectively solved, and an efficient inverse solution process is realized.