30 results about "Collision model" patented technology

Provided are a planning and control method for a legged robot, an apparatus, a robot, and a storage medium. The method includes: determining, based on the movement state and the swing parameter of each leg at the next moment, a foot-end reference state of each leg, and planning, based on a foot-end dynamic model and a discrete collision model, an impact-aware swing leg trajectory for a leg that starts to swing at the next moment; and performing, based on the movement state, the reference state sequence, and the foot-end reference state, whole-body control on the legged robot, and performing, based on a whole-body dynamic model and the discrete collision model, impact-aware whole-body control for a leg that is a supporting leg in planning but does not touch the ground.

The invention relates to the technical field of aviation safety, in particular to a short-distance parallel runway collision risk assessment method based on influence of front and side wind, which comprises collision risk assessment, Bayesian parameter estimation, linear regression analysis, dynamic front and side wind fitting and Monte Carlo analog simulation. The problem of small sample parameter estimation is solved by introducing a Bayesian parameter estimation method, crosswind parameters are calculated by combining linear regression analysis, positive crosswind data are fitted by applying Weibull distribution, and an influence rule of positive crosswind and an initial interval on collision probability is quantified through Monte Carlo simulation. According to the short-distance parallel runway collision risk assessment method based on the influence of the positive and crosswind, on the basis of a traditional collision model, a re-flight condition is incorporated into the model, complex scenes such as crosswind and re-flight are considered, a dynamic interval adjustment model is fused, and a new collision risk model is established; the crosswind grading minimum interval standard is provided for airline companies and air traffic control operation management, and the runway safety and the airport operation capacity are improved.

The application discloses a simulation method of output characteristics of a three-state inertial switch, comprising the following steps: S1, establishing an inertial model based on the structure of an inertial system in the three-state inertial switch and performing simulation and solution to obtain the mechanical response of a mass block in the three-state inertial switch; S2, establishing a collision model of a collision process of the mass block from a front collision to an output electrode based on the contact relationship between the mass block and the output electrode and performing simulation and solution to obtain an invasion displacement time history; and S3, establishing an electromechanical conversion model and taking the invasion displacement time history of the mass block and the electrode as the input of the electromechanical conversion model, and performing simulation on the electromechanical conversion model to obtain the voltage time history of the output electrode as the output characteristics of the three-state inertial switch. The application can accurately simulate the output characteristics of the three-state inertial switch under different penetration environments.

The invention relates to the technical field of automobile safety performance development, in particular to a column collision sliding table test boundary parameter optimization method. Comprising the following steps: extracting related parts from a vehicle column collision passenger protection finite element collision model to obtain a simplified model; establishing a simulation column collision sliding table test finite element model; performing parameterization setting on key parameters in the model, and setting initial values and value ranges of the parameters; establishing a multi-objective optimization function and setting optimization constraint conditions; generating a DOE matrix of a plurality of groups of samples in a parameter value range, wherein each group of samples comprises a combination of all parameters; constructing a reduced order prediction model for predicting rib compression response under different parameter combinations; and with multi-objective function minimization as an objective, obtaining an optimal parameter combination meeting constraint conditions. According to the technical scheme, the calculation complexity can be reduced, the input boundary condition of the side column collision sliding table invasion equipment can be quickly determined, and the passenger injury condition under the whole vehicle column collision working condition can be highly reproduced.

The invention discloses a power plant safety intelligent early warning method based on a dynamic electronic fence, and the method comprises the steps: firstly analyzing the historical work ticket data of a power plant through a BERT-BiLSTM-CRF hybrid model, and recognizing an equipment entity, an operation type and a risk level; in combination with space coordinates of a power plant equipment three-dimensional model, an initial virtual safety boundary is automatically divided according to work ticket operation content, operation personnel operation actions, multi-person position relations and equipment states are fused in real time, and a buffer distance is dynamically adjusted to form a dynamic electronic fence; based on a dynamic electronic fence and high-precision positioning data, a group operation anti-collision model and a safe path planning strategy are established, a graded early warning mechanism is constructed, and corresponding grade early warning is triggered according to the real-time distance between an operator and the electronic fence through linkage of an intelligent wearable device and a power plant monitoring system. According to the invention, the intelligence and refinement level of power plant safety management can be significantly improved, and the occurrence rate of operation safety accidents is effectively reduced.

The invention discloses a method and system for monitoring a bubble contact angle in real time in a bubble impingement model, and belongs to the field of contact angle measurement. The problem that an existing contact angle monitoring method is not accurate is solved. According to the technical scheme, the method comprises the following steps: inversely fixing the surface of a to-be-tested sample in an experimental tank with a preset exposure area, and reserving a preset distance between the wall surface of the to-be-tested sample and a bubble generation channel at the bottom of the experimental tank so as to meet the space requirements of bubble generation and collision; the output end of the bubble generation channel outputs a single independent bubble, and a camera is started to record the collision dynamic process of the bubble and the wall surface of the to-be-detected sample; selecting a dynamic endpoint on the surface of the bubble in an image shot by a camera, calculating a dynamic angle in real time through a three-point method, and establishing a correlation model of the dynamic angle and a contact angle; the method is applied to the bubble collision model.

A method and a device for planning and controlling a leg robot, as well as a robot and a storage medium, wherein the method comprises: determining a foot-end reference state of each leg based on the motion state and swing parameter of the leg of a leg robot in the next instant; planning a collision-aware swing leg trajectory based on the foot-end dynamics model and the discrete collision model for the leg that will begin to swing in the next instant; performing whole-body control of the leg robot based on the motion state, the reference state sequence, and the foot-end reference state, wherein for the leg that was intended to be a support leg during planning and that did not touch the ground, collision-aware whole-body control is performed based on a whole-body dynamics model and a discrete collision model.This solves the problems of limited passive flexible buffering of collisions in leg robots in related technology, the large computational volume of the control algorithm, the low control accuracy, the high wear of the robot hardware, the short lifespan and the inability to meet the needs of practical applications.

This application relates to the field of automotive technology, and more particularly to a method, apparatus, device, and storage medium for adjusting a model. The method includes: obtaining a first collision simulation result based on a whole-vehicle collision model of a vehicle; the first collision simulation result includes at least the impact force of a first barrier and a protective beam in the vertical direction and a first acceleration of the non-deformed position of the protective beam in the vertical direction; determining the equivalent mass that generates the impact force based on the impact force and the first acceleration; controlling a second barrier included in the simplified collision model to impact the protective beam included in the simplified collision model with the impact force based on a simplified collision model of the vehicle and the equivalent mass, thereby obtaining a second collision simulation result; determining a first distance based on the first collision simulation result; determining a second distance based on the second collision simulation result; and adjusting the simplified collision model based on the difference between the first distance and the second distance.

A method for solving the thermal-mechanical coupling multi-scale dynamics of flexible multi-body systems with clearance hinges, the technical field of space deployment mechanism dynamics modeling and numerical simulation. The existing solving method is difficult to accurately capture the change of the dynamics response of the space deployment mechanism under the thermal environment. According to the constructed temperature related hinge gap model, the temperature related material parameter model, the normal contact collision model, the partial slip tangential slip friction model, the tangential total friction force, the adhesion zone displacement and slip velocity model, the thermal viscous damping and tangential friction force model, the static friction growth model and the friction heat feedback transient heat conduction model, the thermal-mechanical coupling mechanical dynamics equation is constructed, which is decomposed into slow field equation and fast field equation, and the slow field equation and the fast field equation are solved through BDF2 and Newton-Raphson method and double parameter adaptive multi-scale implicit integration method, and the motion response of the hinge is obtained. The present application is used for obtaining the motion response of the hinge.

This disclosure relates to a trajectory planning method for a robotic arm, a mobile robot, a medium, and a product. The method includes: determining the initial pose of the end effector of the robotic arm in a working environment model and its target pose in a predetermined operation task; determining multiple workspaces based on the initial pose and the target pose; performing trajectory planning based on the working environment model, and during the trajectory planning process, acquiring multiple collision models with differences in geometric modeling accuracy and collision detection efficiency, and performing collision detection on trajectory points in the corresponding workspaces using the collision models; after the trajectory planning is completed, obtaining the target motion trajectory of the robotic arm under the predetermined operation task. This embodiment solves the problem of high computational complexity in global collision detection using traditional collision models, improves the trajectory planning efficiency of the robotic arm, and thus ensures the task response efficiency of the mobile robot in scenarios with dense equipment distribution.

This disclosure provides a motion optimization obstacle avoidance control method and system for vehicle-like robots, relating to the field of robot path planning and obstacle avoidance technology. The method includes: defining the state space of the vehicle-like robot; planning the global path of the vehicle-like robot; fitting the sparse state sequence using Hermite curves to obtain a time-space continuous trajectory; establishing a collision model between the vehicle-like robot and obstacles; transforming the geometric separation conditions between the robot and obstacles into a set of continuously differentiable nonlinear algebraic constraints based on duality theory; using the time-space continuous trajectory as a reference trajectory; and constructing a trajectory optimization objective function. This function can solve for the motion control quantities of the vehicle-like robot while satisfying its dynamic constraints, input constraints, and acceleration smoothing constraints, thus achieving obstacle avoidance planning and control of polygonal obstacles. This disclosure enables real-time, full-size robot planning and obstacle avoidance control.

The invention relates to a role avoidance control method and device, equipment and a medium. The method comprises the following steps: responding to an avoidance operation event triggered by a player role in a game scene, and obtaining a role avoidance path corresponding to the avoidance operation event; determining an avoidance space model correspondingly occupied by the player character on the character avoidance path in real time; and judging whether an attack collision model corresponding to an attack behavior in the current game scene collides with the avoidance space model or not, and when the collision is monitored, correspondingly triggering an avoidance interface special effect in the current game scene. By optimizing a role dodging control mechanism, the game running efficiency and judgment accuracy are improved, the operation experience and immersion of players are enhanced, and meanwhile, the compatibility and fluency of the game on multiple devices are ensured.

The application discloses a method, device, medium and equipment for simulating nuclear fusion based on a quantum circuit, and belongs to the field of quantum computing. The method comprises the following steps: constructing a plurality of energy models according to the energy types generated by nuclear fusion reactions; constructing a Hamiltonian H according to the plurality of energy models; calculating eigenvalues of the Hamiltonian H by using a quantum circuit under physical conditions set by the plurality of energy models; obtaining constraint conditions corresponding to electromagnetic energy terms, constraint conditions corresponding to the electromagnetic energy terms and physical conditions corresponding to kinetic energy terms under the eigenvalues of the Hamiltonian H; and inputting the constraint conditions corresponding to the electromagnetic energy terms, the physical conditions corresponding to the kinetic energy terms and the physical conditions corresponding to the kinetic energy terms into a collision model to simulate the nuclear fusion reactions, thereby improving the simulation accuracy and efficiency.

The application discloses a method for analyzing the erosion characteristics of a steam turbine regulating valve based on a modified Oka erosion model, which comprises the following steps: S1, modifying the parameters of the Oka erosion model; S2, analyzing the flow field characteristics; and S3, analyzing the erosion characteristics. By constructing a single particle impact three-dimensional model and performing explicit dynamic finite element simulation, the particle size, impact velocity and impact angle parameters in the Oka erosion model are modified, so that the erosion prediction model is matched with the actual valve core material and high temperature and high pressure working conditions, and the accuracy of the erosion rate calculation is improved. By establishing a three-dimensional entity model of the regulating valve and extracting a fluid domain for flow field numerical simulation, the distribution of the velocity field and the pressure field in the valve is obtained, the modified Oka erosion model is introduced and coupled with the solid particle parameters, the particle motion equation and the particle-wall collision model are solved, and the distribution of the erosion and wear of the valve core surface is obtained, so that the positioning accuracy of the erosion area under the complex gas-solid two-phase flow is improved.

The application provides a self-adaptive intelligent detection control system and method for automobile error-proof assembly, the system comprises information acquisition, point prediction, point correction, collision detection, path planning, speed planning, motion execution, motion judgment, information detection and deviation acquisition modules, and optionally comprises point re-prediction, path re-planning, speed re-planning and motion re-execution modules. The method obtains the position information of the vehicle workpiece to be detected through sensors and global cameras, establishes a multi-coordinate system conversion relationship and performs weight fusion, predicts and corrects the target point, plans the path and speed in combination with the collision model, controls the mechanical arm to complete the detection task in the meeting, tracking or reaching mode under the non-stop line state, and determines whether the workpiece is correctly assembled through the image collected by the depth camera. The application can realize full-automatic error-proof detection under the condition of mixed production of multiple vehicle models, does not require manual intervention, and has the advantages of high detection flexibility, high precision and high efficiency.

The application relates to the technical field of automobiles, in particular to a method and device for adjusting a model, equipment and a storage medium, which comprises the following steps: obtaining a first collision simulation result based on a whole vehicle collision model of a vehicle; the first collision simulation result at least comprises a collision force of a first barrier and a protective beam in a vertical direction and a first acceleration of a non-deformation position of the protective beam in the vertical direction; determining an equivalent mass generating the collision force based on the collision force and the first acceleration; controlling a second barrier included in a simplified collision model to collide with a protective beam included in the simplified collision model with the collision force based on the equivalent mass and the simplified collision model of the vehicle, so as to obtain a second collision simulation result; determining a first distance based on the first collision simulation result; determining a second distance based on the second collision simulation result; and adjusting the simplified collision model based on a difference between the first distance and the second distance.

The invention relates to a collision detection method and equipment. A collision model is generated according to geometric data of a robot CAD model; obtaining triangular mesh models of all obstacles in the working space, and combining to obtain an environment obstacle model and a spatial index structure thereof; shaft alignment bounding boxes of all the connecting rods are constructed according to the DH parameters and the joint limiting parameters of the robot, and the movement range of all the shaft alignment bounding boxes is obtained; sequentially judging whether the movement range of each axis alignment bounding box is intersected with the environmental obstacle model or not; if not, judging that there is no collision risk; if yes, surrounding balls corresponding to the axis alignment surrounding boxes are extracted, and whether the minimum distance between each surrounding ball and the environment obstacle model is smaller than a set collision early warning distance or not is judged; and if yes, determining that a collision risk exists. The problems that in the prior art, the collision detection efficiency cannot be remarkably improved on the premise that the detection accuracy is guaranteed, so that the overall motion planning process is accelerated, and the requirements of industrial application for real-time performance and reliability are met are solved.

The invention provides a robot space perception and motion planning method based on differential physics, and relates to the technical field of data processing, environment perception data and a robot motion state are fused, real-time vector grid cost with direction attributes is calculated for each grid, and direction association is carried out; establishing a continuous differentiable collision effect expansion function based on direction correlation, and representing collision intensity and spatial diffusion; attenuating and correcting the real-time vector grid cost to form a corrected vector cost field; and based on the corrected vector cost field, taking minimization of the path integral total cost as a target, carrying out gradient optimization by utilizing a full-link differentiable characteristic, and solving an optimal motion track in combination with vector direction information. According to the method, deep fusion of perception and motion states, continuous micronization of a collision model and integration of perception and planning are realized, and the motion planning efficiency and safety of the robot in a dynamic complex environment can be improved.

The application discloses a multi-axis collaborative robot dynamic path planning method based on deep reinforcement learning, constructs a kinematics model and an obstacle collision model of the robot, designs a deep reinforcement learning model of the robot, introduces irrelevant dynamic zero-mean Gaussian noise into the deep reinforcement learning model to improve the explorativeness of action selection, dynamically controls the size of the Gaussian noise variance, maintains the balance of the algorithm exploration process and the development process, then introduces an importance sample playback mechanism, takes the sample data error size as a standard for measuring the importance of the sample, performs importance sorting, increases the probability of extracting and learning the data sample ranking in the front, improves the convergence speed of the learning process, further constructs a state space, an action space and a reward function of the robot intelligent agent interaction process which fully considers the dynamic obstacle avoidance planning characteristics of the robot, promotes the robot intelligent agent to learn better, and finally the intelligent agent continuously iterates and updates strategies in a simulation environment to obtain an intelligent dynamic obstacle avoidance planning strategy.

The invention belongs to the technical field of physics and infrared radiation simulation, and particularly relates to a vacuum plume infrared radiation rapid calculation method which comprises the following steps: S1, generating a discrete dot matrix covering a computational domain according to input computational domain geometric parameters; s2, performing weighted average on the initial parameters of the components at the nozzle to obtain equivalent mixed gas parameters at the nozzle; s3, solving based on an incoming flow-plume collision model to obtain an equivalent particle source position under the influence of incoming flow; s4, solving by utilizing a vacuum plume engineering calculation model and combining a numerical integration algorithm to obtain micro flow field parameter distribution of each component gas on the discrete dot matrix; s5, vacuum plume overall flow field distribution of the whole computational domain is obtained; s6, solving the radiation transfer equation by adopting an apparent ray method to obtain spectral radiation intensity; the problems that an existing vacuum plume flow field calculation process is complex, consumed time is long, and the whole process from plume flow field generation to infrared radiation transmission cannot be covered are solved.

The invention provides a collision spray morphological feature prediction method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining collision spray simulation data obtained based on CFD simulation software simulation; constructing a correction function based on key parameters of a spray collision model, and introducing the influence of environmental factors on the spray form through the correction function so as to correct the original collision spray simulation data; wherein the key parameters at least comprise a collision Weber number, a collision eccentricity and a droplet radius ratio; and inputting the preprocessed correction function and the collision spray simulation data into a pre-constructed deep learning model so as to output and obtain corrected collision spray morphological feature prediction data. According to the method, the collision spray morphological characteristics obtained through simulation are corrected through the deep learning model, and compared with a traditional method only adopting CFD simulation software for calculation, the prediction precision is higher, and the environmental adaptability is higher.

This invention belongs to the field of ship automation control and provides a method, device, equipment, and storage medium for automatic collision avoidance of ships. The method includes: constructing a collision avoidance model based on deep reinforcement learning training to formulate avoidance decisions; when a grid sensor detects other ships, acquiring the state information of the other ships and calculating the collision risk area based on the state information; when the collision risk area overlaps with the sensing area of ​​the grid sensor, determining whether the ship is a avoidant or a hold-off ship; if it is a hold-off ship, maintaining its course and speed; if it is an avoidant ship, calculating an avoidance decision; after executing the avoidance decision, updating the state information of the ship and other ships in the environmental information, repeating the process until the distance between the ship and other ships is greater than a threshold or less than a threshold and there is no collision risk; this invention aims to solve the problems of traditional ship collision avoidance technology being unsuitable for complex sea conditions and having high computational complexity.

The invention relates to the technical field of vehicles, in particular to a simulation benchmarking method and device for a side airbag of a vehicle, electronic equipment and a medium. The method comprises the following steps: acquiring a test result obtained by performing an airbag static physical point explosion test on an airbag component simulation model; establishing a finite element simulation model under the same condition as the static physical point explosion test of the air bag, and performing benchmarking verification according to a first simulation result and a test result of the finite element simulation model to obtain an optimal fitting degree parameter; and based on the optimal fitting degree parameter, establishing a whole vehicle collision model, performing whole vehicle collision simulation by using the whole vehicle collision model to obtain a second simulation result, and obtaining a final parameter according to the second simulation result and the optimal fitting degree parameter. Therefore, the problems that in the related technology, when simulation analysis is carried out, inconsistency with physical test benchmarking is likely to be caused, a large amount of simulation optimization iteration work and the number of times of physical whole vehicle or pulley collision are increased, and then cost is greatly increased are solved, the development process is simplified, and the development time is saved.

The invention discloses a door and window curtain wall pipeline collision early warning and precise installation adjusting method and system, and belongs to the technical field of building construction intellectualization. The method comprises the steps of collecting real-time installation data of door and window curtain wall pipelines and generating a collision feature data set; determining an initial collision parameter based on a preset BIM collision model; acquiring real-time deviation information by setting a first monitoring point group and a second monitoring point group, and performing adaptive optimization on initial collision parameters by using a normalized weight deviation formula; and dividing dynamic segments based on the optimized parameters, dynamically adjusting the adjusting parameters by adopting a fuzzy control algorithm, and generating stability information based on the installation error variance and the collision conversion precision fluctuation ratio. The problem that the model and the construction state are disjointed in the traditional installation process is solved, high-precision collision early warning and intelligent adjustment in the door and window curtain wall pipeline installation process are achieved through the self-adaptive optimization algorithm and dynamic stability evaluation, and the construction safety and the installation precision are remarkably improved.

A surgical table (1) comprises a base (2), components (7), and a controller (9). The controller (9) is configured to store a geometric collision model including object model datasets of the components (7), of the base (2), and of a supporting surface (6) and motion compute datasets of the base (2) and of the components (7). The controller (9) is configured to execute an anti-collision algorithm defining ranges of motion of the base (2) and of the components (7) based on a specific geometric collision model, and to control a drive (8, 8', 8") to move the base (2) and the components (7) within the defined ranges of motion such that a collision is prevented. The controller (9) is configured to store a defined initial geometric collision model of a configuration and to adapt the initial geometric collision model to an actual geometric collision model according to an actual configuration.

The application discloses a kind of agricultural material collision mechanics characteristic determination test bench and collision model establishment method, test bench includes wooden swing arm and material base, wooden swing arm one end is fixed on shaft, other end installs force sensor and impact head, shaft one end passes through bearing seat, other end is connected with angle encoder, bearing seat and angle encoder are all fixed;Material base is placed agricultural material, and when wooden swing arm is in vertical position, impact head is just in contact with agricultural material;Iron sheet is connected in the middle of wooden swing arm, iron sheet is attracted by unpowered electromagnetic switch, electromagnetic switch is adjustably installed on connecting piece, and angle adjusting disc is fixed at both ends of connecting piece respectively.The test bench can obtain the relationship between deformation and pressure generated by agricultural material collision under different working conditions, and collision modeling is carried out using the obtained collision force and deformation.The application can truly simulate the mechanical change generated by agricultural material collision.

This invention provides a robot spatial perception and motion planning method based on differential physics, belonging to the field of data processing technology. It integrates environmental perception data and robot motion state, calculates a real-time vector grid cost with directional attributes for each grid, and performs directional correlation. Based on the directional correlation, a continuously differentiable collision effect expansion function is established to characterize collision intensity and spatial diffusion. The real-time vector grid cost is attenuated and corrected to form a corrected vector cost field. Based on the corrected vector cost field, gradient optimization is performed using the full-link differentiability property, with the goal of minimizing the total path integral cost, and the optimal motion trajectory is solved by combining vector direction information. This method achieves deep fusion of perception and motion state, continuous differentiability of the collision model, and integration of perception and planning, which can improve the efficiency and safety of robot motion planning in dynamic and complex environments.

A method for operating an adjustment system for an interior of a vehicle, wherein a collision-free adjustment path from an initial configuration to a final configuration is determined in a path planning routine by the control arrangement by way of intermediate configurations, wherein a collision check is performed for the intermediate configurations, in which the respective intermediate configuration is checked for the presence of a collision based on a kinematics model and a geometry model, wherein the collision-free adjustment path is generated based on the intermediate configurations and depending on the results of the collision check. A prediction of the presence of a collision is generated for the intermediate configurations by the control arrangement with the aid of a predetermined collision model based on a trained machine learning model and that the intermediate configurations are subjected to the collision check or rejected depending on the prediction of the collision check.

The application discloses an irregular rock three-dimensional packing optimization method based on a partial random key genetic algorithm, and relates to the technical field of packing optimization, and particularly relates to a method for packing irregular rocks in a limited container. The method comprises the following steps: visual sampling and three-dimensional reconstruction are performed on rock samples; a grid model is processed; the partial random key genetic algorithm is initialized to generate an initial population; a collision model of a container and an OBB (Oriented Bounding Box) is established, and the position and posture of the container and the OBB are set; a collision model of each OBB corresponding to the rock sample is established, and the position and posture of the OBB are set; gravity and friction are added, and the container space occupancy rate is calculated as the fitness of an individual; the population individuals are divided into two categories, i.e., elite individuals and general individuals, according to the fitness, the population is subjected to copying, crossing and mutation operations according to the partial random key genetic algorithm, and a next generation population is generated; the operation is repeatedly performed, and when a termination condition is met, the maximum fitness individual is decoded to output the final position and posture of each rock sample after packing as a final packing scheme. The application can realize maximum packing of irregular rocks in a limited container.

The invention belongs to the field of individual soldier intelligent equipment, and particularly relates to a wearable weapon arm and a real-time obstacle avoidance control method thereof. The weapon arm comprises a back plate, an upper limb mechanism arranged on the upper middle portion of the back plate and unfolded from the left side, and a tail end mechanism connected to the tail end of the upper limb mechanism. The upper limb mechanism is a five-degree-of-freedom series-connection mechanical arm mechanism, and the tail end mechanism adopts a VD type rubber shock absorber to buffer the tail end impact force; and tail end clamping is achieved through a gear and rack transmission mechanism. According to the equipment, the working ability and working space of a wearer are expanded, the control method comprises the steps that pose information of the arms and the trunk of the wearer is collected through an inertial sensor, a collision model of the human body and the wearable weapon arms is established in real time, and the obstacle avoidance controller established based on nonlinear model predictive control is utilized to achieve the obstacle avoidance of the weapon arms. The wearable weapon arm can avoid the limbs of the wearer in real time.