4results about How to "Reduce contour error" patented technology

The invention belongs to the field of EtherCAT bus control, and discloses a cross coupling multi-axis synchronous control method based on EtherCAT, which directly reduces the contour error through a cross coupling method, and also can calculate the deviation between the expected feeding speed and the actual speed of each axis so as to improve the accuracy of the cross coupling multi-axis synchronous control. And finally, calculating the total speed deviation of each shaft as an input signal to be input into each slave station so as to improve the synchronization performance of each shaft of the system.

The invention provides an intelligent rapid tunneling cutting system and a cutting feed method. Intelligent rapid and efficient cutting is achieved through a series of programmable control processes such as cutting feed of a cutting walking system, sliding cutting of a cutting sliding system and telescopic difference compensation of a cutting telescopic mechanism. The method has the advantages that the heading machine body can cut the required roadway shape at a fixed point, the section formed by automatic cutting is relatively flat, the roadway outline is relatively smooth, the outline error of each time of cutting is small, the cutting forming precision can be effectively improved, safe and convenient supporting work and smooth passing of equipment are facilitated, the roadway heading speed is increased, and the working efficiency is improved. And the comprehensive mechanical operation level of the fully-mechanized excavation face is improved, the adaptability of intelligent tunneling development requirements is enhanced, the labor intensity of workers is reduced, and potential safety hazards of underground tunneling operation are reduced.

The utility model relates to the field of spinning equipment especially is concerned with a multi -direction curvature pot body spinning -lump, including work head, be provided with rotating platform on work head, be provided with rotating device on work head, be provided with steel sheet pressure mechanism on work head, be provided with fixed plate on work head, be provided with transverse drive arrangement on work head, the first sliding frame is slidably connected between two fixed plates, the first sliding frame includes the first sliding plate, be provided with vertical drive arrangement on the first sliding frame, the first sliding frame slides and has the second sliding frame, the second sliding frame includes the second sliding plate, be provided with the first motor on the second sliding frame, the output shaft of first motor is connected with the rotating seat, the middle part rotationally connected with the spinning wheel of rotating seat, both sides fixed plate, the first sliding plate, the second sliding plate all are symmetrically arranged, the both ends of rotating seat are connected with the second sliding plate, solved the problem that cannot quickly produce the pot body with multiple curvatures, spinning wheel support structure uneven stress.

The application discloses a multi-feedback closed-loop control method and system for robot trajectory planning and a medium. The method synchronously collects robot joint position, motion state quantity, servo current and optional joint torque feedback on the basis of reading a current trajectory reference sequence, converts joint electromagnetic torque from the servo current, and obtains fused torque in combination with the optional joint torque feedback. External disturbance torque is determined based on the fused torque and nominal dynamics predicted torque, control instructions are generated by combining feedback correction and trajectory profile error, fusing the nominal dynamics predicted torque, disturbance compensation term and feedback correction, a speed scaling factor is jointly decided based on the trajectory profile error, joint torque margin and external disturbance torque, and only when continuous overrun occurs, time reparameterization or trajectory re-planning is performed on a local window section, the trajectory reference sequence is updated, and the control instructions are cyclically generated and issued in subsequent control cycles until the trajectory execution is completed.