13 results about "Contact dynamics" patented technology

This invention discloses an adaptive compliant force control method for robotic arms based on reinforcement learning, belonging to the fields of robotics and automation. This method is based on an integrated framework of "reinforcement learning-adaptive compliant force control" for a robotic arm-dexterous hand-six-dimensional force / torque sensor system. It aims to completely eliminate existing problems such as the need for manual parameter tuning during model changes, difficulties in contact dynamics modeling, model parameter estimation, and the frequent need to prove the stability of adaptive laws through intelligent control strategies. It achieves self-learning and self-adaptation of upper-level task planning and lower-level compliant force / position control. After deployment, no repeated manual parameter tuning is required for different working conditions. The same control strategy maintains a high assembly success rate and low peak contact force for workpieces with small gaps, easy deformation, and multiple materials, eliminating bottlenecks in manual calibration, environmental modeling, and online parameter estimation, and enabling rapid "zero-downtime" switching in flexible production lines.

The application discloses a rolling bearing health state evaluation method and system based on digital twinning, acquires multiple-source operation monitoring signals of the bearing, determines working condition boundary conditions, establishes a twinning body driving parameter set containing individual difference characteristics of the bearing, carries out contact dynamics response simulation and elastohydrodynamic lubrication state analysis based on the parameter set, generates stress field distribution characteristics and oil film thickness attenuation distribution, and further forms a bearing internal state atlas through damage accumulation evaluation; on this basis, micro-pitting feature positioning and damage index extraction are carried out, a bearing health state index is formed in combination with working condition correction; individualized degradation baselines and adaptive determination thresholds are established through multi-cycle degradation difference value monitoring, and abnormal damage features are screened; finally, damage features are corrected and residual life grades are marked through double-source cycle comparison monitoring, bearing health monitoring results are output, and early damage identification and individualized life prediction of the bearing are realized.

The application relates to the technical field of space mechanical arm control, and discloses a space mechanical arm control system based on Cartesian impedance control, which realizes fine operation control of the space mechanical arm, environment compliant control capture and other functions by real-time solving of contact dynamics of the environment and real-time adjustment of Cartesian impedance control parameters; a mechanical arm body dynamics solving unit realizes functions of mechanical arm arm type angle, DH parameter input and mechanical arm body dynamics solving; a contact dynamics solving unit realizes real-time solving functions of environment stiffness, environment damping and contact collision parameters; and a Cartesian space compliant control calculation unit realizes real-time solving of a position control law with a compliant effect from the output of the previous units. The application also discloses an implementation method of the space mechanical arm system. The application economically and efficiently realizes adaptive flexible capture of a fine operation task of a space robot, is easy to implement, and provides support for effectively guaranteeing and prolonging the service cycle of a spacecraft.

The invention discloses a reciprocating pump vibration analysis method and system considering planar secondary worm pair meshing force. High-precision vibration prediction is achieved by coupling three excitation sources including liquid pressure, reciprocating inertia force and worm gear and worm meshing force. The method comprises the following steps: inputting shafting parameters and working conditions; constructing a system dynamic characteristic matrix; calculating liquid exciting force based on a fluid mechanics principle; the reciprocating motion inertia excitation force is solved; according to geometric parameters (center distance, tooth number, modulus and the like) of the worm and gear pair, establishing a three-dimensional contact dynamic model by utilizing a planar secondary envelope technology, and calculating time-varying meshing exciting force; and integrating the three types of exciting forces, and iteratively solving the system vibration response by adopting a Newmark-beta time stepping algorithm until a preset analysis duration is reached. According to the method, accurate calculation of shafting vibration is achieved, errors are greatly reduced, vibration prediction accuracy is remarkably improved, and more accurate theoretical basis and engineering guidance are provided for design and optimization of a high-reliability reciprocating pump.

The invention discloses a flying operation robot collaborative carrying method and system, and relates to the field of flying operation robot collaboration, and the method comprises the steps: obtaining the state information and end effector information of each flying operation robot; further constructing a multi-degree-of-freedom coupling dynamic model and an adhesion interface contact dynamic model of each flight operation robot; further determining an integrated closed-chain dynamic model of the flying operation robot and the carrying target; according to the state information and the integrated closed-chain dynamical model, physical characteristic parameters of the carrying target are determined; according to the physical characteristic parameters, a real-time control strategy of each flying operation robot is determined based on an integrated closed-chain dynamic model and an adhesion interface contact dynamic model; carrying the carrying target according to the real-time control strategy; according to the invention, cooperative carrying of non-specific targets can be realized, and the application effect and range of the flight operation robot in a real scene are improved.

To provide a contact dynamic stiffness calculation system that is capable of calculating contact dynamic stiffness with high accuracy by taking into account contact states between a workpiece and workpiece support members.SOLUTION: A contact dynamic stiffness calculation system 130 acquires basic information related to a workpiece W containing information of a processing position I on the workpiece W supported by workpiece support members 34, 41. Further, the contact dynamic stiffness calculation system 130 calculates a difference bending angle that is a difference between a workpiece bending angle and a support member bending angle at a contact part of the workpiece W and the workpiece support members 34, 41, at the time an initial state in which acting force is not applied by an abrasive wheel T to the workpiece W supported by the workpiece support members 34, 41, changes to an acting state in which the acting force is applied. In addition, a spring constant and an attenuation coefficient at the contact part of the workpiece W and the workpiece support members 34, 41 are calculated on the basis of, the basic information and the difference bending angle, in order to calculate contact dynamic stiffness.SELECTED DRAWING: Figure 6

The application discloses a kind of robot variable stiffness vision-impedance control method and system based on optimization, the coordinate conversion relationship between camera and six-dimensional force sensor and robot end is established, six-dimensional force sensor is calibrated, by analyzing the interactive dynamics relationship of robot and environment, and the mathematical model of robot-environment interaction is constructed, by solving vision servo acceleration model, combined with the dynamics equation of robot in assembly process, a characteristic space man-robot-environment interactive dynamics model is established;Establish the characteristic space man dynamics model as a planner to obtain the reference feature trajectory of the implicit human recognition contact dynamics;Design the characteristic space variable stiffness impedance controller based on QP online planning, which can dynamically adjust the impedance parameters during assembly process, and compensate the disturbance force caused by environmental uncertainty in real time, and maintain constant force in rich contact task, to ensure that the robot can complete the assembly task stably and with high precision.

The invention discloses an intelligent plugging model construction method, a plugging method and a plugging system for a wiring harness terminal body of complex equipment, and aims to solve the problems of control stiffness, poor strategy generalization ability and high learning safety risk caused by nonlinearity of contact dynamics in a traditional method. The method comprises the following steps: firstly, generating unified hidden space state representation through a cross-modal attention fusion network and deep collaborative vision and force sense information; secondly, learning safe and smooth operation priori from expert data by using a conditional diffusion model; then, local fine optimization is carried out on the simulation basis through a residual reinforcement learning architecture; and finally, introducing a safety filter based on a control barrier function, and providing formalized safety guarantee for the whole decision and execution process. According to the method, the evolution of the robot plugging skill from efficient simulation to safe autonomous surpassing is realized, and the plugging success rate, the flexibility and the adaptive capacity under the complex working condition are remarkably improved.

The invention provides an explicit simulation method for new modal flexible body-cone complementary contact dynamics of a non-ideal hinge, and belongs to the technical field of non-ideal hinge contact mechanics, the constraint condition of the non-ideal hinge existing in actual engineering is converted into a gap-containing contact collision equation with real physical significance through modeling and analysis methods; the method comprises the following steps: carrying out dynamic modeling on a flexible part by adopting a new modal flexible body method based on a force method, introducing a cone complementation theory, converting a nonlinear constraint condition generated in a flexible body contact collision process into a flexible body cone complementation constraint form, and carrying out high-performance explicit simulation of a non-ideal hinge by utilizing a GPU and CPU heterogeneous parallel computing architecture. According to the method, the time step length in calculation can be effectively increased while the calculation precision is kept, and the problem that the calculation efficiency is low when the non-ideal hinge contact problem is processed based on an explicit solver is solved.

The invention relates to the field of dynamic simulation of belt conveyors, in particular to a modeling and simulation method for a space coupling dynamic model of a long-distance belt conveyor, and the modeling method comprises the steps: dispersing a conveying belt and a steel wire rope according to sections, and building a three-dimensional coupling dynamic model of a trailer system, the conveying belt and the steel wire rope; a global space internal force model of the long-distance belt conveyor is established, and an external load vector dynamical model is established and comprises track irregularity exciting force, wheel track tangential nonlinear friction force, conical wheel exciting force and material gravity; and establishing a global spatial dynamics model of the long-distance belt conveyor. According to the method, a vertical-longitudinal-transverse combined modeling framework is provided and realized; three-way contact dynamics, tangential friction and bearing belt section-frame-wheel-rail coupling are considered in a single model at the same time, so that the coupling vibration behavior of the trailer type belt conveyor in actual operation can be described more truly.

The application discloses a kind of based on reinforcement learning's mechanical arm adaptive compliant force control method, belong to robot technology and automation field.The method is based on the " reinforcement learning-adaptive compliant force control " integrated framework of mechanical arm-dexterous hand-six-dimensional force / torque sensor system, aims at through intelligent control strategy, completely eliminate the existing problems such as the need for manual parameter setting, contact dynamics modeling, model parameter estimation, adaptive law needs frequent stability proof, realize upper task planning, low-level compliant force / position control self-learning, self-adaptation.Deployment is not needed artificial repeated parameter adjustment for different working conditions, so that the same control strategy can maintain high assembly success rate and low peak contact force for small gap, easy deformation, multi-material workpieces, eliminate artificial calibration and environment modeling, parameter online estimation bottleneck, realize flexible production line " zero downtime " fast switching.

This invention discloses a robust control method for an aerial contact operation robot, comprising: constructing a contact dynamics model of the aerial contact operation robot; constructing a visual servo controller based on image moments; constructing a visual impedance controller, which outputs a desired image moment based on the error vector between the tracked contact force and the desired contact force; the visual servo controller outputting a generalized control force generated by the aerial contact operation robot based on the desired image moment and the actual contact force; calculating a generalized torque generated by the aerial contact operation robot based on the generalized control force and the desired rotation matrix of the aerial contact operation robot using an attitude controller; and controlling the aerial contact operation robot based on the generalized control force and the generalized torque. This control method effectively improves the robot's operational stability and enables contact operations in areas with weak or absent outdoor GPS signals.