380 results about "Contact force" patented technology

Systems and methods for online augmentation for learned grasping are provided. In one embodiment, a method is provided that includes identifying an action from a discrete action space. The method includes identifying a second set of grasps of the agent utilizing a transition model based on the action and at least one contact parameter. The at least one contact parameter defines allowed states of contact for the agent. The method includes applying a reward function to evaluate each grasp of the second set of grasps based on a set of contact forces within a friction cone that minimizes a difference between an actual net wrench on the object and a predetermined net wrench. The reward function is optimized online using a lookahead tree. The method includes selecting a next grasp from the second set. The method includes causing the agent to execute the next grasp.

The invention relates to the technical field of nano-probe detection, and particularly discloses a nano-probe test system for feeding back contact force in real time, comprising the following modules: a probe execution module comprising a nano-probe and a piezoelectric ceramic driver, the nano-probe realizing three-dimensional micro-displacement and establishing controllable contact with a wafer; the multi-dimensional signal sensing module is used for synchronously acquiring a contact resistance signal and a nanoprobe deformation signal; the data processing and control module is used for realizing signal analysis, force value calculation and driving control of a contact resistance signal and a nanoprobe deformation signal; the man-machine interaction module comprises a touch display screen and a real-time data recorder and is used for realizing visualization of force signals; the data processing and control module carries out cooperative analysis on the contact resistance signal and the nanoprobe deformation signal obtained by the multi-dimensional signal sensing module to obtain the real-time contact force of the nanoprobe and the wafer. The system solves the problem that a traditional nanoprobe detection system cannot feed back the contact force in real time.

The invention discloses a visual guidance positioning system and method in the machine tool flexible shaft assembling process, and relates to the technical field of flexible shaft assembling, a visual system obtains three-dimensional pose data of the tail end of a flexible shaft and a target connector, a six-dimensional force sensor is combined to monitor contact force / torque in real time, the limitation of a single sensor is broken through, and the blind area of the single sensor is solved; visual and force sense coordinate systems are aligned in real time, and coordinate drifting caused by movement of the mechanical arm is eliminated; generating an approximation path based on the pose difference, introducing a compensation amount formula, inhibiting oscillation in combination with an attenuation coefficient, and improving the path smoothness; when the contact force exceeds the dynamic threshold value or the pose difference converges, path correction is automatically triggered, overload damage is avoided, and the assembly damage rate is effectively reduced. The method breaks through the limitation of traditional static path planning, has high precision, high reliability and complex working condition adaptability, and is especially suitable for precise instrument and heavy load machinery assembly scenes.

The invention provides a data acquisition system and a data processing method, and belongs to the technical field of robots. The handheld unit comprises a handheld grip and a tool fixture, the tool fixture is connected with the handheld grip, an operator controls the tool fixture to make contact with and interact with an operation object through the handheld grip, natural operation characteristics of a human body are met, and the skill teaching efficiency can be improved. A data measuring device is arranged and used for measuring the position, posture, contact force, torque information and the like in the operation process, and the problem that traditional position teaching lacks force feedback and the problem of environmental sensitivity existing in visual motion capture can be solved. And finally, the upper computer is used for carrying out unified coordinate system conversion on the measured data, and mapping errors caused by hand-tool-environment coordinate system separation in a traditional method can be eliminated.

The invention relates to a biomimetic robot control system based on digital human action mapping, in particular to the technical field of robot control, solves the problem that a biomimetic robot is difficult to perceive physical attributes only by means of vision, achieves accurate pre-judgment of contact force and material attributes by analyzing digital human fingertip microscopic color change and object texture deformation, and improves the accuracy of the biomimetic robot control system. A robot can establish an adaptive mechanical model before contact, the system dynamically adjusts the flexibility and damping of a mechanical arm according to the environment rigidity and friction characteristics, soft grabbing of hard objects and stable grabbing of sliding objects are achieved, the hysteresis quality of traditional feedback control is effectively overcome, meanwhile, the time sequence feed-forward and energy monitoring mechanism is combined, and the control precision is improved. Collision protection is provided while zero-delay synchronization of actions is ensured, and the operation stability and safety of the robot for fragile and flexible objects in a complex environment are remarkably improved.

The invention discloses a contact force field-based topological optimization design method for a detachable steel structure beam-column joint reinforcing member, which comprises the following steps of: (a) establishing an integral joint finite element model, defining a frictional contact relationship and carrying out nonlinear static analysis; (b) extracting node counter-force components on all contact surfaces and taking the node counter-force components as equivalent loads acting on a reinforcing component; (c) establishing a reinforcing member independent optimization model, applying an equivalent load and defining an inertia release boundary; (d) setting a design variable, a constraint condition and a target function of topological optimization, and solving; and (e) carrying out geometric reconstruction and performance verification on an optimization result. According to the method, a complex contact nonlinear problem is converted into a determined load boundary condition, an inertia release method is utilized to deal with a constraint problem in optimization ingeniously, an optimal topology result of the detachable reinforcing component is obtained finally, and the problem of optimization result distortion caused by the uncertain boundary condition is effectively avoided.

Examples include a device for coating a carrier substrate with a powdered material. The device includes an application unit having a first roller and a second roller which, at a nip thereof, form a first gap through which a powder mixture can be conveyed to form a dry film. A counter-pressure roller, together with the second roller or another roller arranged between the counter-pressure roller and the second roller, forms a second gap through which the carrier substrate to be coated can be guided for having the dry film applied to the carrier substrate. The first gap between the first and second rollers can be adjusted based on a position-based positioning drive by being set to a constant and / or defined gap width, and the second gap can be adjusted based on a force-based positioning drive, and can be set to a constant and / or defined contact force or linear force.

The invention discloses a flexible finger friction contact collision dynamics simulation method based on an absolute node coordinate method, which comprises the following steps: simplifying a finger of a flexible manipulator into a connecting rod system, taking a tail end knuckle as a flexible beam for consideration, and carrying out unit division on the flexible beam system based on the absolute node coordinate method; a contact collision process is described by using an additional constraint method, meanwhile, switching of a viscous state and a sliding state is considered, a friction-containing flexible finger contact collision dynamic model is established, and a dynamic equation of a system is solved by adopting a double-circulation implicit integral algorithm; and obtaining a curve graph that the flexible finger tail end displacement changes along with time and the finger tail end contact force changes along with time. The invention provides a new frictional contact collision dynamic model for a flexible manipulator system, and provides more perfect data information and image information for researchers in the field.

The invention provides an automatic shaft hole assembling method, device and equipment and a storage medium, and relates to the technical field of robots. In some embodiments of the present disclosure, after a robot controls a mechanical arm to grab a workpiece to an assembly position, on a plane perpendicular to the Z-axis direction, the mechanical arm is controlled to diffuse from inside to outside along the center point of the workpiece at a set step length to search the position of a target mounting hole, and the contact force of each step of movement of the mechanical arm in the Z-axis direction is recorded, the Z-axis direction is a shaft hole assembling direction; under the condition that the contact force in the Z-axis direction in the time window is smaller than a set force threshold value, shaft hole alignment is determined; the mechanical arm is controlled to move towards the target mounting hole position in the Z-axis direction to complete assembling; according to the method, the mechanical arm is controlled to automatically assemble the shaft hole according to the set search track by means of the change of the contact force at the tail end of the mechanical arm, a sample does not need to be obtained, the equipment cost is reduced, and good scene reusability is achieved.

The invention discloses a labor protection coating glove rubber surface wear resistance testing device, and relates to the technical field of glove testing, the labor protection coating glove rubber surface wear resistance testing device comprises a workbench and a friction roller, the distance between a glove and the friction roller is adjusted through a guide rail moving table, and a hand mold seat simulates the radian of a human hand to ensure fitting; friction rollers of different textures and surface structures can be rapidly replaced without tools, the complex abrasion working condition that gloves make contact with multi-element substances in the industries of buildings, machinery, chemical engineering and the like can be simulated, a control panel can adjust the rotating speed of a motor and the contact force between the gloves and the friction rollers, and multidirectional testing is carried out from the dimensions of friction frequency, pressure environment and the like. Extreme and conventional working conditions are covered, scraps generated by testing are collected by a scrap box, accurate adjustment of a guide rail moving table and design of a hand mold base improve the testing consistency, and the device is suitable for wear resistance testing of various labor protection coating gloves, meets multi-industry standards and provides reliable data for glove research and development and quality control.

The invention discloses an intelligent control method for precise grinding of a robot, and the method comprises the steps: obtaining the information of a to-be-ground workpiece and initial grinding parameters, and the initial grinding parameters comprise the load gravity of the tail end of the robot; generating a target contact force based on the to-be-ground workpiece information and the initial grinding parameters; constructing a gravity compensation model through preset coordinate parameters based on the load gravity at the tail end of the robot; in the grinding process, grinding force data are collected in real time; on the basis of the grinding force data, actual contact force is obtained through a gravity compensation model; comparing the actual contact force with the target contact force to generate a contact force deviation and a deviation change rate; based on the contact force deviation and the deviation change rate, a force-position hybrid control instruction is output through a fuzzy PID controller; and on the basis of the force-position hybrid control instruction, control adjustment parameters of the robot are generated. By forming a complete intelligent control closed loop, constant-force grinding can be achieved, and the problems of uneven surface roughness, excessive grinding and the like are effectively solved.

The invention discloses a shaft hole assembly method and device and a medium, and the method comprises the steps: under the condition that a multi-shaft workpiece is in contact with a porous workpiece, executing the calculation operation of the deviation between a shaft in the multi-shaft workpiece and a corresponding hole in the porous workpiece, and obtaining the deviation; under the condition that the deviation is larger than the preset deviation, the mechanical arm is controlled to drive the multi-axis workpiece to move based on the deviation until the deviation is smaller than or equal to the preset deviation; the mechanical arm is controlled to drive the multi-axis workpiece to execute spiral hole searching operation till the actual contact force value of the contact face of the mechanical arm and the multi-axis workpiece is smaller than or equal to a fourth preset force value; under the condition that the actual contact force value of the contact face of the mechanical arm and the multi-axis workpiece is smaller than or equal to a fourth preset force value, the operation of determining the bottom center position of the shaft entering the hole in the multi-axis workpiece is executed; and the mechanical arm is controlled to drive the multi-axis workpiece to move on the set spherical surface until the contact component force value of the actual contact force of the contact surface of the mechanical arm and the multi-axis workpiece in the third direction is smaller than or equal to a third preset force value.

The present invention discloses a robot adaptive force control and admittance control method and system for wall panel assembly. First, a high-precision photogrammetry system is combined to measure the position and posture of the robot end in real time, and the trajectory is corrected according to the measurement result and the desired position and posture to achieve the positioning of the robot in the position control direction. In the force control direction, a mapping relationship between the robot end force and the contact surface contact force is established through a heteroscedastic neural network mapping model, and an inverse model is jointly trained to map the desired contact force back to the desired end force, so that the contact force on the contact surface is controlled by adjusting the end force, and an adaptive force control and admittance control model is constructed; by interconnecting a virtual energy tank and the adaptive force control and admittance control model, the update of the control model parameters is guided to ensure the passivity of the system; at the same time, the parameters of the virtual energy tank are dynamically adjusted according to the system state, which can maintain the passivity and maximize the assembly accuracy and performance of the robot.

A force sensor comprising a contact arrangement for transmitting a contact force to a force sensor assembly. The force sensor assembly comprising a first sensor sensing, and producing an output from, a normal contact force component of the contact force; and a body moveable on transmission of the contact force to the force sensor assembly; and a second sensor for sensing, and producing an output from, a relative displacement of the body relative to the second sensor, the a tri-axis contact force being determined from the relative displacement.

The invention discloses a robot self-adaptive force control and admittance control method and system for wallboard assembly, and the method comprises the steps: firstly, measuring the pose of the tail end of a robot in real time in combination with a high-precision photogrammetry system, carrying out the track correction according to a measurement result and an expected pose, achieving the positioning of the robot in a position control direction, and carrying out the positioning of the robot in a force control direction; the method comprises the following steps: establishing a mapping relation between robot end force and contact force of a contact surface through a heterovariance neural network mapping model, and jointly training an inverse model to map expected contact force back to expected end force, thereby controlling the contact force on the contact surface by adjusting the end force, and constructing a self-adaptive force control and admittance control model; a virtual energy tank is connected with a self-adaptive force control and admittance control model, so that updating of parameters of the control model is guided, and the passivity of a system is ensured; meanwhile, the parameters of the virtual energy tank are dynamically adjusted according to the system state, passivity can be kept, and the assembly precision and performance of the robot can be improved to the maximum extent.

The invention provides a method for measuring the gravity center of a large component based on a distributed six-dimensional force sensor. The method specifically comprises the steps that firstly, the six-dimensional force sensor is installed below a spherical hinge of a positioner and used for measuring the contact force and friction torque of the spherical hinge; then, according to the conversion principle of force and torque between coordinate systems, the acting force and torque of the positioner on the large component and the gravity and gravitational torque of the large component are converted into the base coordinate system, and therefore a torque balance equation of the large component in the base coordinate system is established; and finally, adjusting the spatial attitude of the large component, and solving the center-of-gravity position by adopting a least square method according to the moment balance equation of the large component under different attitudes. According to the method of the scheme, aiming at the influence of the friction torque of the spherical hinge on the gravity center measurement precision during the gravity center measurement of the large component, the friction torque of the spherical hinge during the posture adjustment of the large component can be calculated, so that the gravity center measurement precision of the large component is improved.

Methods, systems, and apparatuses for combining pressure measurement with a dynamic system model to estimate the air mass within an actuator, and then estimate the applied contact force which may be based on a quasi-static deformation model.

The utility model relates to a double-force-arm terminal and a connector. The double-force-arm terminal is inserted in a terminal hole, can be elastically abutted against a rigid terminal, and comprises a first bending part, and a first elastic force arm and a second elastic force arm which extend outwards from two end parts of the first bending part, when the first bending part elastically abuts against the rigid terminal, the first elastic force arm and the second elastic force arm elastically abut against an inner wall surface, opposite to the rigid terminal, of the terminal hole. According to the double-force-arm terminal provided by the utility model, the elastic force arms are arranged at the two sides of the contact position, so that the elastic force arms at the two sides can provide large contact force at the same time when the double-force-arm terminal is abutted against the rigid terminal of the male seat, the connection resistance is reduced, the fatigue risk is reduced, and the stability is improved.

The invention relates to a force control-based weld joint ultrasonic detection method for a pressure container, and solves the technical problem of how to improve the precision, stability and reliability of defect detection of a weld joint of the pressure container by a mechanical arm driving an ultrasonic probe. A zero drift value of a six-dimensional force sensor and gravity components of an ultrasonic probe in six dimensions are calculated, then actual contact force and actual contact torque are calculated, the actual contact force is input into an impedance control module, force position control of a mechanical arm is achieved, cooperative compliant control over the contact force and the pose of the probe is achieved, and the mechanical arm is controlled. And the detection stability and reliability of the surface and internal defects of the welding seam are obviously improved.

The invention relates to a mechanical arm disordered grabbing algorithm, and belongs to the technical field of robotics, and the method comprises the steps: firstly, obtaining a target material image and a point cloud sample, and training a multi-modal attention fusion perception model through sample enhancement processing and a difficult case mining mechanism after the target material image and the point cloud sample are labeled with categories, postures and grabbing areas; secondly, a mechanical arm obtains operation area data, the operation area data are input into a multi-modal attention fusion perception model to obtain initial attitude parameters, errors are corrected by combining with a visual data fusion calibration model, and the material stacking state is judged through a dynamic reference comparison method; thirdly, based on the correction parameters and the stacking state, an evaluation function is constructed to screen collision-free and stress-balanced grabbing points, and a collision-free path is planned by fusing kinematics constraints of the mechanical arm; and finally, the grabbing action is executed, the strength and the posture are adjusted in real time according to the contact force and the position deviation, the material stability is evaluated through vision after grabbing, and the stability and the operation efficiency of the mechanical arm in a complex disordered scene are improved.

The invention relates to the technical field of sidewall contact force control, and discloses a well wall sidewall contact force control method, which comprises the following steps of: acquiring fluid pressure gradient data, synchronously acquiring contact stress distribution of a working surface, performing synchronous association, acquiring associated data of time-space alignment, and performing fusion processing to eliminate irregular fluctuation; a smoothed pressure and stress correlation data set is obtained; the local stress concentration state is detected in real time, and a control instruction used for adjusting the displacement of the contact execution mechanism is generated; constructing a nonlinear relation model between a pressure and stress associated data set and contact force output, embedding a dynamic compensation mechanism, correcting and fusing the input real-time data to generate a collaborative feedback quantity, and adjusting the displacement of the contact execution mechanism in real time through the collaborative feedback quantity. And the response delay in the adjustment process is compared with a preset time range, and parameters of the dynamic compensation mechanism are adjusted according to a comparison result to form closed-loop control. According to the invention, high-precision and high-robustness control of the sidewall pushing force can be realized.

The present invention discloses a detection device for weld defects of water conservancy pipelines, specifically relating to the technical field of pipeline weld detection, including a support frame and ultrasonic probes. At least two sets of adjusting mechanisms are arranged on the support frame. Through the arrangement of the adjusting mechanism, on the one hand, when there is a convex situation in the detection path during the detection process, the controller controls the current of the electromagnet to decrease, so that the air pressure between the first piston and the second piston decreases, avoiding an increase in the thrust applied to the ultrasonic probe. On the other hand, when there is a concave situation in the detection path during the detection process, the controller controls the current of the electromagnet to increase, so that the air pressure between the first piston and the second piston increases, avoiding affecting the contact force between the ultrasonic probe and the pipeline wall. Therefore, the thrust on the ultrasonic probe can be adaptively adjusted according to the undulation of the pipeline, so that the contact force between the ultrasonic probe and the pipeline wall is maintained at an appropriate level, thereby improving the detection accuracy and data reliability.

The invention relates to a constant-force grinding device and method based on gravity-elastic force dynamic balance, solves the problem of contact force fluctuation caused by blade profile deviation, actuating mechanism positioning error and grinding tool abrasion, and ensures that normal pressure is stabilized at a set threshold value in the polishing process. The device comprises a constant-force coil spring, a motor, a base, a limiting block, a linear guide rail, a balancing weight, a grinding wheel and a foundation frame. The linear guide rail in the vertical direction is installed on the foundation frame, the base is connected to the linear guide rail in a sliding mode and can move up and down on the linear guide rail, the motor is fixed to the base, the upper end of the constant-force coil spring is fixedly connected to the top of the foundation frame, and the lower end of the constant-force coil spring is connected with the base. The balancing weight is installed on the motor or the base, and the balancing weight requirement is calculated according to the target downward pressure F. The contact force stability is improved; the maintenance period is prolonged, and the constant-force floating structure does not need electrical maintenance.

The invention belongs to the technical field of machine learning and robot grabbing, and provides a grabbing control method based on pre-recognition. Before grabbing operation is executed, sensing data obtained when a clamping jaw does not make contact with an object is collected based on a capacitive sensor and input into a pre-trained machine learning model, the category of the object to be grabbed is recognized, and grabbing target force is obtained through the recognized object category according to the mapping relation between the object category and grabbing force; and in the grabbing stage, based on the contact force collected by the capacitive sensor, optimization control is conducted on the opening amount of the clamping jaw, and the clamping jaw clamps the object with the grabbing target force. According to the invention, before a clamping behavior occurs, additional tactile information and supplementary information modes, different from visual information of a camera, of a clamped object can be provided, and the force application range of the clamping jaw can be expanded through the sensor, so that a clamping task can be better executed.

The invention discloses a method for inhibiting fluttering of a thin-wall workpiece based on a follow-up supporting device, which comprises the following steps of: installing the follow-up supporting device, establishing initial normal contact between a rolling wheel in the follow-up supporting device and the back surface of the thin-wall workpiece and applying pre-tightening force to finish initial calibration of a contact state between the follow-up supporting device and the thin-wall workpiece; based on the contact state, a force sensor and a displacement sensor in the rolling wheel are used for collecting normal contact force and displacement signals; the control unit calculates a modal participation coefficient and a dynamic correction function according to the real-time signal to form a time-varying model of equivalent stiffness and damping of the thin-wall part, and a stepping motor in the follow-up supporting device drives a gear-rack mechanism to finely adjust the position of a rolling wheel, so that self-adaptive adjustment of the supporting force is realized; data recording and feedback optimization; and finishing processing and outputting parameters. The device has the advantages of real-time sensing, self-adaptive adjustment, measurable parameters, compact structure and the like, and the machining precision and the surface quality of the thin-walled workpiece are remarkably improved.

The present application relates to a robust adaptive variable admittance control method based on different intentions in a feature space. The method includes: using the kinematic and dynamic models of the manipulator to determine the mapping relationship between the actual contact force and the virtual contact force; determining the adaptive stiffness coefficient based on the actual contact force change, and determining the robust adaptive virtual damping coefficient based on the direct intention based on the virtual motion speed of the feature point; adjusting the robust adaptive virtual damping coefficient based on the contact force expected by the robot, and determining the admittance control virtual damping coefficient based on direct and indirect intentions; determining the robust adaptive variable admittance control based on human intention in the feature space based on the mapping relationship, the adaptive stiffness coefficient and the admittance control virtual damping coefficient; determining the robot image visual servoing control law based on the real-time image feature points and the expected feature points, obtaining the real-time joint velocity of the manipulator, and controlling the manipulator movement.

The utility model belongs to the field of polishing equipment, and provides a robot polishing device based on a PLC (Programmable Logic Controller), which comprises a device shell in which a mounting block, a cylinder driving piece, a magnetic displacement sensor, a linear guide rail, an electric proportional valve, an electromagnetic valve, an angle sensor and the PLC are arranged. According to the grinding device, firstly, the angle sensor is used for recognizing the posture state of the whole grinding device in a three-dimensional space, then the gravity of a tool in the corresponding space posture is calculated through the PLC in combination with the content of the control method, and then the thrust provided by the air cylinder driving part is precisely controlled through the precise electric proportional valve; in this way, the air cylinder can change thrust in real time according to user requirements while making up the gravity of a tool in any spatial posture, and therefore the contact force with a workpiece is kept constant.

The present invention relates to the technical field of slitting machines, and discloses a fully automatic wood precision slitting machine, including a table top, the top of which is provided with a vertical clamping mechanism, the vertical clamping mechanism including: a telescopic cylinder 1, and a connecting rod fixed to the top of the table top. The fully automatic wood precision slitting machine is provided with a vertical clamping mechanism, the telescopic cylinder 1 drives the motor 1 to move downward, the motor 1 drives the slide block to move downward, the slide block drives the conical block to move downward through the serrated groove, the conical block drives the I-shaped block to move downward, the I-shaped block drives the spring 2 to move downward, the spring 2 drives the clamping column to move downward until the bottom of the clamping column contacts the wood, and if the contact force is too large, the spring 2 is over-extruded, the spring 2 causes the conical block to squeeze the spring 1, and the conical block moves upward on the serrated groove, so that the contact force on the wood is not too large, and the wood is vertically clamped during cutting.

The invention belongs to the technical field of rub-impact force calculation, and discloses a blade-coating casing normal rub-impact force calculation method considering a heat-wear effect. Based on a one-dimensional unsteady state heat conduction theory, analytic expressions of temperature rise and linear thermal expansion of the blade and the casing are respectively established, and instantaneous temperature change in each contact process is considered. Secondly, physical modeling of various abrasion mechanisms (such as cutting type abrasion, adhesive abrasion and microcrack abrasion) is introduced, and the influence of coating gap changes on the contact force is effectively captured; in addition, the composite stiffness characteristics of the casing coating and the supporting structure are further integrated, so that the rub-impact force calculation can cover the response characteristics under different structural stiffness conditions. Through finite element comparison and experimental verification, the calculation method disclosed by the invention shows relatively high precision in the aspects of predicting thermal deformation, contact force and wear trend, and provides powerful support for subsequent rub-impact fault diagnosis and structural design.

Controlling a Robotic Manipulator for Packing an Object Provided is a computer-implemented method of controlling a robotic manipulator for packing an object, involving obtaining an image of an object grasped by an end effector of the robotic manipulator and determining a major axis of the object in the image. A first object pose is determined wherein the major axis of the object is aligned with an axis of a receiving space. The robotic manipulator is controlled to manipulate the object to the first object pose above the receiving space and move the object from the first object pose down into the receiving space. In response to detecting by a force sensor a contact force above a predetermined force threshold at the end effector, the robotic manipulator is controlled to manipulate the object to a second object pose, above the receiving space, for initiating a further attempt to place the object in the receiving space.