3results about How to "Solve cumulative error" patented technology

The application provides a robot mechanical arm cooperative control method based on imitation learning. The method comprises the following steps: constructing a robot historical state data set, performing feature extraction on the robot historical state data set through an encoder structure to obtain a latent feature representation; obtaining a color image and a depth image of a target operated by a robot to be predicted through a binocular camera, performing feature extraction processing on the color image and the depth image through a mode classification module and a visual feature extraction network to obtain a mode feature and a visual feature vector; inputting joint state information, the latent representation, the operation mode feature and the fused visual feature into a decoder to obtain an action block prediction result, performing weighted averaging on action blocks at multiple continuous time points based on a time series integration weighting mechanism to obtain a continuous control trajectory of the robot mechanical arm. The application solves the multi-stage strategy discontinuity and error accumulation problems existing in the traditional control algorithm, and realizes smooth action, stable task and double-arm cooperative control.

A method for machining an aero-engine nozzle housing and a multi-station clamping fixture are disclosed, belonging to the field of aero-engine nozzle manufacturing technology. The method is as follows: Uneven allowances and irregular structures are removed to form a regular machining plane with dimensional accuracy requirements; a multi-station clamping fixture is used to center and clamp the nozzle housing blank, completing the final machining of the external dimensions, and precision machining of the datum surface and oil passage holes; the housing is removed for further precision machining; tool marks and residual radius corners are polished; and the datum plane is inspected with coloring. This invention ensures the centering and clamping of the part, avoiding machining deviations due to scribing and alignment errors, thus preventing waste of blank costs. It also avoids positioning datum conversion errors caused by multiple clamping operations and plastic deformation during multiple machining processes, reducing product scrap rates. It eliminates the need for repeated alignment and positioning, and is suitable for batch processing on flexible production lines.