Movement mode switching and control method of mobile stage
A control method and motion mode technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of simple motion mode, unable to meet the diversification of modern stage performances, etc., and achieve rich and diverse effects
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Embodiment 1
[0116] Embodiment 1 is the process that moves dance to do curve motion, concrete operation process:
[0117] 1. In the track import interface, set the motion track. The set trajectory of this example is to move the stage along the x-axis of the world coordinate system at a speed of 1m / s. After trajectory decomposition, we get matrix( are functions of time t), The matrix parameters are as follows:
[0118] in The units are m / s, The unit is rad / s.
[0119] The matrix obtained by decomposing the trajectory Data is stored in Flash storage.
[0120] 2. In the parameter setting interface, enter the basic parameters of the kinematic model of the mobile stage, as follows:
[0121] r=0.2m, R=1.0m,
[0122] The control method when doing curved motion is: (i,n,m,k are all arbitrary integers)
[0123] in, (when hour, )
[0124] then the initial moment
[0125] [w 1 w 2 w 3 w 4 ] T =[0 0 0 0] T ;
[0126] 3. Online operation: Click the "Run" butto...
Embodiment 2
[0127] Embodiment 2 is the process that mobile dance is done rotating motion, concrete operation process:
[0128] 1. In the track import interface, set the motion track. The set trajectory of this example is to rotate the stage at 0.2rad / s along the origin of the world coordinate system. After trajectory decomposition, we get matrix( are functions of time t), The matrix parameters are as follows:
[0129] in The units are m / s, The unit is rad / s.
[0130] The matrix obtained by decomposing the trajectory Data is stored in Flash storage.
[0131] 2. In the parameter setting interface, enter the basic parameters of the kinematic model of the mobile stage, as follows:
[0132] r=0.2m, R=1.0m,
[0133] The control method when doing rotary motion is: (i,n,m,k are all arbitrary integers)
[0134] then the initial moment
[0135] [w 1 w 2 w 3 w 4 ] T =[0 0 0 0] T ;
[0136] 3. Online operation: Click the "Run" button on the configuration interface,...
Embodiment 3
[0137] Embodiment 3 is the process of doing rotation+curve motion for mobile dance, and the specific operation process:
[0138] 1. In the track import interface, set the motion track. The set trajectory of this example is that the mobile stage moves linearly along the x-axis of the world coordinate system at a speed of 0.2m / s, and at the same time rotates at a speed of 0.2rad / s. After trajectory decomposition, we get matrix( are functions of time t), The matrix parameters are as follows:
[0139] in The units are m / s, The unit is rad / s.
[0140] The matrix obtained by decomposing the trajectory Data is stored in Flash storage.
[0141] 2. In the parameter setting interface, enter the basic parameters of the kinematic model of the mobile stage, as follows:
[0142] r=0.2m, R=1.0m,
[0143] Control method for curve + rotation movement: (i,n,m,k are all arbitrary integers)
[0144] then the initial moment
[0145] [w 1 w 2 w 3 w 4 ] T =[-0.1 -0.1...
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