22results about How to "Realize motion control" patented technology

The invention relates to a mechanical arm and a robot. The mechanical arm comprises a tail end executing mechanism assembly, a first joint module, a second joint module, a first support, a third joint module, a first connecting rod and a second connecting rod, and the first joint module, the second joint module, the first support, the first connecting rod and the second connecting rod are matched to drive the tail end executing mechanism assembly to rotate around a first axis and a second axis. The third joint module drives the first support, the first joint module, the second joint module, the first support, the first connecting rod, the second connecting rod and the tail end executing mechanism assembly to rotate around a third axis.

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 invention relates to the technical field of mechanical arm design and control, in particular to a flywheel-driven mechanical arm device, a control system and a control method. A main body structure of the mechanical arm device comprises a base, an arm rod, a joint and a flywheel driving device. The control system comprises a rotating speed reference regulator and a motor rotating speed controller. The motor rotating speed controller drives the flywheel driving device to track the target rotating speed according to the error between the target rotating speed and the actual rotating speed of the flywheel, the inner frame and the outer frame, and the actual pose of the mechanical arm tracks the target pose. A reaction flywheel is adopted as a power source of the mechanical arm, torque of the same size is output through high-speed rotation of the flywheel and change of the rotating speed of a deflection frame, the weight of the mechanical arm and the complexity of joints are remarkably reduced, a complex and heavy transmission structure is omitted, and motion control over the mechanical arm is achieved. The control precision and the response speed are improved, and the advantages of being simple in structure, small in rotational inertia, high in reliability, high in control precision, high in response speed and the like are achieved.

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 present invention discloses a remote control system and method for a remote-controlled car based on eye tracking technology, the system comprising an eye tracking system, a gaze intention recognition system and a car long and short step motion control system; the eye tracking system comprises a graphical user interface module and an eye movement data acquisition module; the gaze intention recognition system comprises a gaze area integration module and an audio interaction module; the gaze area integration module updates the gaze area in real time; the audio interaction module prompts through a beep audio when the coordinates of the integrated gaze area center point are closest to one of the arrow center points; the car long and short step control module controls the car to move in the direction indicated by the target arrow according to the target arrow and displacement step corresponding to the gaze intention. The present invention obtains the gaze point as an eye movement signal based on the eye tracking technology, and controls the direction of the car by gaze; the car is quickly and efficiently controlled from the car's perspective, effectively reducing the user's operation intensity and time, and avoiding the problem of perspective conversion.

The utility model relates to the technical field of automobile shock absorber damping valve structures, and discloses an automobile shock absorber damping valve structure convenient to install, which comprises a first support connector, a fixed upper support is fixedly installed at the top of the first support connector close to the center, and a damping valve upper shell is fixedly installed at the bottom of the first support connector. An upper shell groove is formed in the damping valve upper shell, a damping valve lower shell is movably connected to the position, close to the interior of the upper shell groove, of the interior of the upper shell groove, a second supporting connector is fixedly installed at the bottom of the damping valve lower shell, and telescopic damping supporting columns are movably connected to the positions, close to one side, of the front face of a second supporting connecting plate in an axial symmetry mode; limiting resisting columns are fixedly installed on the portions, close to the tops, of the front faces of the telescopic shock absorption supporting columns, and by arranging the telescopic shock absorption supporting columns, equipment can be fixed, parts can conveniently support the equipment, stable shock absorption is achieved, equipment driving is facilitated, and the shock absorption effect is conveniently achieved.

The invention discloses a multi-axis-point and multi-node numerical control method and device, terminal equipment and a storage medium. The method comprises the following steps: acquiring node features corresponding to nodes connected with a controller; generating a control program corresponding to each node according to each node feature; transmitting each control program to the controller, so that the controller analyzes each control program and obtains a control instruction corresponding to each node; wherein each node executes a control task corresponding to the control instruction after receiving the control instruction transmitted by the controller. According to the invention, under the condition of a single controller, through connection of multiple nodes and control program programming, motion control of multi-axis and multi-node execution is realized, and the newly added cost of equipment is reduced. Meanwhile, on the basis of sufficient computing power of the controller, control among the nodes does not need to be transmitted across the controller, signal transmission delay is reduced, and the production efficiency of numerical control equipment is greatly improved.

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.

The present invention discloses a dispatching system for a magnetic levitation conveying device, comprising: a positioning bar, a plurality of sensors, a CPLD positioning encoder, a driving unit, a controller and a power distribution module. The positioning bar is arranged on the mover; the sensors are evenly distributed along the track, and the sensors generate pulse signals by sensing the positioning bar; the sensors are electrically connected to the CPLD positioning encoder; the driving unit is electrically connected to the signal output end of the CPLD positioning encoder; the signal input end of the controller is connected to the signal output end of the CPLD positioning encoder, and the signal output end of the controller is electrically connected to the control end of the driver. The dispatching system of the present application can monitor the position and speed of the mover in the magnetic levitation conveying device in real time, and realize accurate control and positioning of the mover.

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 present invention belongs to the field of machine control, and relates to a wheeled mobile robot trajectory tracking control technology, and more specifically, is a mobile robot trajectory tracking method based on backstepping sliding mode. The method comprises the following steps: step 1: establishing a kinematic model and a dynamic model of a mobile robot; step 2: designing a kinematic controller of a mobile robot based on backstepping method; step 3: designing a dynamic controller of a mobile robot based on a sliding mode variable structure of a combined reaching law; step 4: obtaining the actual posture and actual speed of the mobile robot according to the kinematic model of the robot; inputting the desired posture and actual posture of the mobile robot into the backstepping kinematic controller to obtain a virtual control variable, inputting the virtual control variable and the actual speed into the dynamic controller to obtain a control torque, inputting the control torque and external disturbance into the dynamic model, and outputting acceleration, so that the actual posture of the mobile robot reaches the desired posture.

The utility model provides special arrowhead harvesting equipment, which belongs to the technical field of agricultural machinery, and comprises a floating mechanism and a loading mechanism, the floating mechanism comprises a connecting platform, the outer side wall of the connecting platform is fixedly connected with a floating block, and the middle part of the connecting platform is provided with a placing hole. Stable floating is achieved through the floating mechanism through the connecting platform and the floating block, the arrowhead can be conveniently placed through the middle containing hole, the high-pressure water pump can provide needed water flow power, and water flow is controlled and guided through the water pumping pipe, the connecting hose, the limiting block and the connecting hard pipe; power transmission and operation flexibility of the equipment are further enhanced by adding a transmission shaft and blades, the loading mechanism realizes motion control of a cover plate through a sliding cover plate and a bearing seat, a stable loading platform is provided by fixed mounting of a loading frame and arrangement of foot pads, and water is convenient to discharge after arrowhead is harvested by designing a water outlet.

The utility model discloses a glue outlet needle head cleaning device, which belongs to the technical field of mechanical equipment, and comprises a base plate and a clamping component arranged on the base plate, a charging tray group and a first winding column are respectively arranged on two longitudinal sides of the clamping component, and the charging tray group comprises a first charging tray and a second charging tray which are arranged at an interval along the transverse direction; dust-free cloth sequentially passes through the first material disc, the first winding column and the second material disc, the dust-free cloth is clamped around the glue outlet needle head through the clamping assembly, then the glue outlet needle head is wrapped by the dust-free cloth, residual glue on the glue outlet needle head can be removed when the glue outlet needle head moves up and down in a reciprocating mode, and after cleaning movement is completed, the glue outlet needle head can be cleaned by the dust-free cloth. The dust-free cloth can move along with rotation of the material disc so that the dust-free cloth stained with the residual glue can be recycled. The glue outlet needle cleaning device is compact in overall structural design, can be directly arranged on glue coating equipment to clean glue outlet needles, can be matched with various glue outlet needles, and has good use value.

The utility model discloses a connecting assembly and massage equipment. The connecting assembly includes rotating part and connecting piece. Rotating part is used for with shell assembly universal hinge cooperation. Connecting piece and rotating part sliding connection. One end of connecting piece is equipped with first connecting portion, and the other end of connecting piece is equipped with second connecting portion for with first massage head connects. First connecting portion is used for with transmission assembly rotation connection, and connecting piece passes through rotating part to make second connecting portion set up at the outside of shell assembly. When first connecting portion moves with transmission assembly, connecting piece can drive rotating part to rotate, and connecting piece can slide relative to rotating part. The connecting assembly can effectively reduce the motion interference near transmission assembly, and the compact structure is favorable to realize the miniaturization of massage equipment.

The present application provides a braking control method and device for an electric vehicle, the method comprising: constructing a dynamic model of a target vehicle; obtaining vehicle parameters and braking requirements; performing fuzzy processing calculations based on the dynamic model, vehicle parameters and braking requirements to obtain target brake fluid pressures of the front and rear brake lines; performing hydraulic pressure tracking control calculations based on the target brake fluid pressures to obtain an optimal braking torque; and performing braking control on the target vehicle based on the optimal braking torque. It can be seen that the method and device can combine fuzzy control and hydraulic pressure tracking control to achieve optimal control of the braking system, thereby being able to intelligently adjust the braking system, which is conducive to handling complex driving conditions and environmental changes, and improving the stability and controllability of the vehicle under complex working conditions.

The invention discloses a variable-structure tetrahedron truss robot, and relates to the technical field of variable-structure robots. Comprising a central torsion module which is averagely divided into two parts capable of relatively rotating; the multiple upper foot end movement modules are arranged, and the multiple upper foot end movement modules are evenly distributed on the upper half portion of the center twisting module in the radial direction; and the number of the lower foot end movement modules is one or more, and the multiple lower foot end movement modules are evenly distributed on the lower half portion of the center twisting module in the radial direction. The four foot end movement modules and the center torsion module are all flexible mechanisms, movement in the X-axis direction, the Y-axis direction and the Z-axis direction and rotation around the theta x axis, the theta y axis and the theta z axis can be achieved at the same time, the movement track is continuous, controllability is good, the rotation angle of each joint in the movement process can be provided, robot movement control is better achieved, and the robot movement control efficiency is improved. And the robot can well move on a complex terrain.

The invention relates to the technical field of rolling, in particular to a rolling mill automatic speed increasing and decreasing control system and method.The rolling mill automatic speed increasing and decreasing control system comprises an inverter, an alternating current motor, a PLC module, a WINCC module and an external sensor, and the inverter controls the alternating current motor to act; the alternating-current motor controls operation of the rolling mill; the PLC module is used for controlling the action of the inverter; the WINCC module is used for realizing visualization and operation control on equipment; according to the system, self-developed program logic is carried through the PLC module, man-machine interaction is achieved through the WINCC module, automatic speed reduction is achieved through a speed reduction coefficient set through a picture of the WINCC module, manual participation is not needed, the speed reduction starting time of a first rolling mill is automatically detected and calculated, the speed reduction condition is recovered, and the speed reduction speed is reduced. And speed reduction time protection is arranged, so that the normal speed is forcibly recovered within the protection time, and the situation that the bar is snapped due to the fact that an external signal goes wrong is prevented.

The invention provides a robot motion control method and device, equipment and a storage medium. The method comprises the steps of obtaining a current state vector of a target robot; constructing a nonlinear optimization model of the target robot in the prediction time period, wherein the nonlinear optimization model takes a state vector and a control vector of the target robot in the prediction time period as optimization targets; solving the nonlinear optimization model based on the current state vector to obtain a prediction control vector and a prediction state vector of the target robot at each prediction moment in the prediction time period; and performing motion control on the target robot according to the prediction state vector and the prediction control vector. According to the technical scheme, accurate motion control over the robot can be achieved.

The present invention provides an obstacle map marking method and system in combination with an unmanned vehicle, which relates to the field of map marking technology, including determining the movement direction and movement path of a mobile unmanned vehicle according to the current location information of the mobile unmanned vehicle and preset target location information; determining the location information of static obstacles by a laser radar scanning device installed on the mobile unmanned vehicle; performing dynamic obstacle target detection on the dynamic point cloud data by a pre-constructed target detection model, and tracking the dynamic obstacles according to a target tracking algorithm to obtain the movement information of the dynamic obstacles; planning a local path for avoiding the static obstacles and dynamic obstacles in real time in the movement direction of the mobile unmanned vehicle by an improved artificial potential field method; and generating a motion control instruction for the mobile unmanned vehicle according to the local path.

The invention discloses a data management storage cabinet, and relates to the field of data storage, the data management storage cabinet comprises a main cabinet used for storing data management folders and an auxiliary cabinet used for assisting the lifting placement of the data management folders, the auxiliary cabinet is fixedly installed at one side of the main cabinet, and a dust removal mechanism is installed at the top of the main cabinet, the dust removal mechanism is used for cleaning dust in the main cabinet and the auxiliary cabinet, through combination of the main cabinet and the auxiliary cabinet, a lifting mechanism (comprising a motor, a connecting shaft, a lead screw, a sliding block, a lifting frame and the like) of a motor driving lead screw is adopted in the auxiliary cabinet, automatic lifting and entering and exiting of a data management folder tray are achieved, and the storage efficiency and convenience are improved; according to the automatic transmission and storage structure, a plurality of brackets and a belt conveyor driven by a motor are arranged in a main cabinet, automatic transmission of data management folder trays is achieved, storage and taking of the trays are controlled through positive and negative rotation of a transmission mechanism, and the operation process is simplified.

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.

The present invention discloses an unmanned vehicle motion control method based on regional visual relative positioning, which belongs to the field of automatic driving technology, including: a drone performs coordinated motion with an unmanned vehicle based on a preset following mode, shoots the driving environment of the unmanned vehicle based on a preset time interval, and generates a first image set; performs image preprocessing on any first image in the first image set, extracts image features, and determines the current position and motion posture of the unmanned vehicle based on the image features; a control unit establishes a motion map model based on the current position and motion posture, the motion map model calculates the optimal motion path, and sends a motion instruction to the unmanned vehicle based on the optimal motion path; the unmanned vehicle moves after receiving the motion instruction, monitors the actual motion path of the unmanned vehicle in real time, dynamically adjusts the motion instruction, and completes the motion control process of the unmanned vehicle. The present invention can improve the timeliness, safety and accuracy of unmanned vehicle control.