2results about How to "Reduce contour error" patented technology

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.