85 results about "Gravity compensation" patented technology

The invention relates to the technical field of industrial robots, in particular to a dynamic simulation damping parameter solving method based on a gravity compensation mechanism, which comprises the following steps of: acquiring a joint basic parameter set of a to-be-tested industrial robot, and determining a test boundary condition according to the joint basic parameter set, and constructing a test task sequence based on the test boundary conditions. According to the method, the fusion weight of the static stiffness and the dynamic stiffness is intelligently adjusted according to the characteristics of the movement speed, the acceleration or the force control frequency band in a specific application task, and the limitation of a single parameter under complex and changeable working conditions is avoided. According to the parameter fusion mechanism aiming at the specific task characteristics, the generated joint comprehensive rigidity parameters can truly reflect the physical response of the robot in different operation stages, and the prediction error between the physical simulation environment and the actual physical operation is reduced; and the strict requirements of high-precision scenes such as semiconductor packaging and the like on micron-level positioning precision and force control stability are met.

The invention discloses a wind turbine generator full-blade load monitoring method based on tower wall vision measurement, and the method comprises the steps: S1, arranging an observation platform, and installing a camera; s2, arranging a blade mark group; s3, synchronizing image acquisition and time; s4, camera calibration and distortion correction; s5, feature detection and tracking; s6, performing three-dimensional reconstruction; s7, centrifugal force and gravity compensation calculation; s8, blade net displacement calculation; and S9, carrying out aerodynamic force load inversion and result output. According to the invention, monitoring of the load in the edge direction of the whole blade of the wind turbine generator can be effectively realized, and reliable technical support is provided for safe operation, optimal design and economical efficiency improvement of the blade of the large-scale wind turbine generator.

The invention belongs to the technical field of multi-rotor unmanned aerial vehicle control, and particularly relates to a multi-rotor unmanned aerial vehicle self-adaptive feedforward control method based on a mesoscopic wind field model. Comprising the following steps: firstly, based on a relaxation time model of a lattice Boltzmann method, establishing a mapping relation between a Knudsen number and turbulence intensity and thermal noise intensity of a macroscopic wind field, and realizing parameterized representation of a mesoscopic wind field; then, constructing a mesoscopic wind field model by synthesizing a real-time wind field containing average wind, turbulent flow, gust and thermal noise components; then, calculating the wind resistance according to the predicted wind speed, designing a self-adaptive gain mechanism fusing a real-time tracking error, an error wind direction included angle and a historical error trend, and generating a dynamic feedforward control quantity; and finally, combining the feedforward control quantity with a feedback control quantity based on gravity compensation to form a comprehensive wind resistance control law. Starting from the mesoscale, the disturbance suppression capability and trajectory tracking precision of the unmanned aerial vehicle in complex environments such as strong wind and turbulent flow are enhanced.

The invention relates to the field of artificial intelligence, and discloses an unmanned unloading automatic operation method and system based on machine vision, and the method comprises the steps: collecting images and point clouds through multi-view synchronous imaging, fusing texture and geometric features through a double-flow feature extraction network, and achieving the high-robustness recognition and six-degree-of-freedom pose calculation of a tray; a virtual grabbing point is generated in combination with a structure prior knowledge base, dynamic bottom plate deformation is modeled through a B-spline curved surface, and grabbing parameters are adjusted in a self-adaptive mode; layered path planning and force control pre-judgment cooperate to guarantee movement safety, and a gravity center compensation algorithm maintains stable carrying posture. The system comprises a synchronous imaging module, a feature fusion module, a pose resolving module, a plane modeling module, a path planning module, a force control compensation module and the like.

A robotic system for performing an ocular surgery includes a robot and an electronic control unit (ECU). The robot includes an end-effector, six or more electric motors connected to or operable for moving six or more links and controllable via the ECU, and all-pose gravity compensation structure. A surgical tool is connected to the end-effector. The robot and surgical tool, in response to electronic control signals from the ECU, perform a surgical task on an eye during the ocular surgery. The ECU includes scaling logic operable for downscaling or limiting a tool force imparted to the eye by the surgical tool and / or a tool velocity of the surgical tool. All-pose gravity compensation minimizes a perceived weight of the surgical tool during the ocular surgery. The robotic system may include a surgeon-operated haptic device / master in which the robot acts as a slave device.

A cantilevered work platform and method with dynamic balancing counterweight are disclosed, belonging to the technical field of high-altitude work safety equipment. The platform includes a main boom, a telescopic boom, a personnel carrier frame, and a base. A dynamic center of gravity compensation device, consisting of a counterweight slide rail, a movable counterweight block, and a drive mechanism, is installed on the base. The counterweight block, linked to the pitch angle and telescopic stroke of the main boom via displacement sensors, moves in real-time along the slide rail in the opposite direction to counteract the variable overturning moment generated during operation. Simultaneously, a dual-rope self-locking fall arrest system, independent of the platform structure, is installed above the personnel carrier frame. This system includes two safety ropes anchored to high-level fixed points and corresponding speed difference controllers, directly connected to the worker's safety belt. This invention improves the overall anti-overturning stability of the machine by actively adjusting the counterweight position and ensures personnel safety even in the event of platform failure, significantly enhancing the reliability and safety of high-altitude operations.

The invention relates to a clamping error identification method for precision assembly and electronic equipment, and the method comprises the steps: firstly constructing an assembly system model, initializing a force sensing module, and when a part is clamped, identifying a clamping position error and carrying out gravity compensation through analyzing a mapping relation between force sensing data and a part barycentric coordinate; then, in the contact stage of the part and the reference shaft, a contact force line equation is established, contact point coordinates are solved, and a clamping attitude error is obtained through further calculation; and finally, the robot carries out real-time motion compensation under an impedance control strategy based on the identified position and attitude errors, and the assembly quality is evaluated after assembly is completed until all the parts in the batch are assembled. On-line dynamic recognition and closed-loop correction of position and posture deviation in the clamping process are achieved through force sensing information, and the assembly precision and the self-adaptive capacity of the system are remarkably improved.

The invention discloses an automatic matching method for a working position of an X-ray machine and a flat panel detector, and relates to the technical field of radiographic imagines.The method comprises the steps that pet struggling features are recognized in real time through a motion state classification model, a compensation mechanism is triggered before displacement occurs, and matching delay caused by passive response in the prior art is avoided; the working position of the X-ray machine can synchronously track the position of the detector to ensure that an imaging area accurately covers a key anatomical structure; when the displacement is overtime, the system automatically stops exposure and reversely calibrates the position based on the anatomical mark point; an operator does not need to interrupt flow manual calibration, the repeated exposure risk of the pet is reduced, and the diagnosis and treatment efficiency is improved; the influence of equipment vibration and operation jitter is suppressed by gravity compensation and smooth filtering, and the displacement prediction model is compatible with motion characteristics of pets with different body types; in a narrow clinic or multi-pet assembly line scene, the matching stability is kept; an autonomous decision closed loop is formed from data acquisition, state judgment, real-time tracking to abnormal calibration.

The application discloses a horizontal hydraulic diaphragm pump and belongs to the technical field of diaphragm pumps. The horizontal hydraulic diaphragm pump comprises a power end, a hydraulic end, an auxiliary system and a control system. The hydraulic end comprises a hydraulic chamber adopting an asymmetric gradually changing cross section design, a gravity compensation type gradient rigidity composite diaphragm, a diaphragm chamber and an integrated intelligent exhaust device, the top of the hydraulic chamber is provided with a spherical crown gas collection concave cavity; the diaphragm is divided into a central flexible area, a transition buffer area and an edge rigid area along the radial direction, and a reinforcing framework is embedded in the lower semicircular area; the intelligent exhaust device comprises a bubble aggregation cavity, a gas-liquid separation microchannel group, a liquid level sensor and an exhaust electromagnetic valve. The auxiliary system comprises a double-cavity pre-pressing pulsation buffer, an air bag is arranged in a main buffer cavity, and a spring piston is arranged in an auxiliary buffer cavity. The control system adopts a pressure gradient self-adaptive reversing control and an iterative learning control algorithm to inhibit pressure pulsation, and solves the problems of asymmetric force bearing of the diaphragm, gas accumulation in the hydraulic chamber, large flow pulsation and reversing impact and the like under the horizontal arrangement.

The application belongs to the technical field of path planning, and particularly relates to a PCB glue tearing machine operation path optimization control method and system, which comprises the following steps: collecting torque and motion state data of a glue tearing machine actuator, performing gravity compensation and filtering on the torque data; calculating accumulated mechanical work according to the processed torque data; obtaining a sticking resistance coefficient according to the accumulated mechanical work, displacement distance and torque change rate; when a continuous preset number of sticking resistance coefficients exceeds a threshold value, sampling control points on an initial path, taking the control point longitudinal coordinate as an optimization variable; constructing a cost function comprising a safety penalty term, a path smoothness penalty term and an efficiency reward term, performing particle swarm optimization on the control points according to the cost function to obtain optimal control points, and generating an avoidance path using a curve fitting algorithm on the optimal control points; and controlling the actuator to complete glue tearing according to the avoidance path. The application adjusts the path by monitoring the sticking state, thereby improving the glue tearing quality.

This invention relates to the field of ultra-long profile processing technology and discloses a laser cutting equipment for ultra-long aluminum profiles for rail transit based on gravity compensation support. The equipment includes a gantry laser cutting machine with a base frame underneath. Supports are uniformly fixedly connected to the base frame, and a positioning mechanism is connected to each support. The positioning mechanism includes a base, which is a cavity structure with an opening at its upper end. This gravity compensation support-based laser cutting equipment for ultra-long aluminum profiles for rail transit effectively solves the problems in existing technologies where ultra-long H-shaped aluminum profiles are prone to bending and deformation after hoisting and placement on the machine frame due to insufficient flexural strength. This leads to deviation between the surface to be cut and the reference surface of the laser cutting head, causing quality problems such as beveled cuts and slag buildup. Furthermore, the bending deformation of the profile prevents it from effectively fitting with the machine frame, further exacerbating the decline in cutting quality.

This invention discloses a flexible cable-driven upper limb exoskeleton device and its control method for over-the-shoulder harvesting in agriculture. It employs a back-mounted drive and Bowden cable distal transmission architecture, and introduces a bidirectional cable chain mechanism to adaptively compensate for the instantaneous rotational center drift of the shoulder joint, eliminating human-machine kinematic interference. The perception layer uses a dual-node pure IMU scheme for the upper and lower arms, combined with a lightweight LSTM network and a majority-voting smoothing strategy to achieve low-latency, highly robust four-state action intention recognition. The control layer constructs a finite state machine scheduling architecture, mapping intention adaptive gravity compensation, position impedance, and zero-force following modes. Implicit state alignment and torque cross-gradient achieve non-disruptive switching between multiple modes. The underlying servo integrates fuzzy PID online tuning to suppress transmission nonlinearity. This invention significantly reduces the activation load on the deltoid and biceps muscles under lightweight design, making it suitable for long-duration over-the-shoulder harvesting operations in orchards.

The utility model provides a gravity compensation device and a robot. The gravity compensation device comprises a base, a connecting piece and a gravity compensation mechanism. The connecting piece is rotationally connected with the base, and the connecting piece is configured to be capable of being connected with a load of the robot; the gravity compensation mechanism is movably connected with the base and comprises an elastic structure, a mounting structure and a transmission part, the base and the mounting structure abut against the elastic structure, the mounting structure is movably connected with the base, and the mounting structure can move in the preset direction relative to the base so that the elastic structure can elastically deform. The transmission part is connected with the mounting structure; the connecting piece comprises a body part and a side wall part, the body part is rotationally connected with the base, the side wall part is arranged on the body part in a protruding mode, the inner wall, facing the rotating center of the body part, of the side wall part is in contact fit with the transmission piece, and the distances between different positions of the inner wall and the rotating center are different. According to the gravity compensation device and the robot, the structural design is reasonable, the gravitational torque of a load can be compensated, and the occupied space is small.

The invention relates to the technical field of robots, and discloses an exoskeleton control method and device, an exoskeleton robot and a medium, and the method comprises the steps: obtaining joint state data and limb movement data of a lower limb exoskeleton collected by a sensor; calculating the joint angle data through a double-connecting-rod dynamic model to obtain a target gravity compensation torque for compensating the joint gravity; performing friction state recognition based on the joint angular velocity data and the limb angular velocity data to obtain a recognition result, and determining a friction compensation torque according to the recognition result; inertia disturbance of the lower limb exoskeleton is determined through a disturbance observer, and inertia compensation torque is obtained through calculation; and superposing the target gravity compensation torque, the friction compensation torque and the inertia compensation torque to obtain a total compensation torque, and sending the total compensation torque to a preset motor driver to execute control of the lower limb exoskeleton. According to the method, the influence of the exoskeleton robot on natural movement of a human body can be reduced, so that the following performance and naturalness of man-machine movement are improved.

The application discloses a kind of unmanned aerial vehicle for inspection of bucket wheel machine, it is related to unmanned aerial vehicle technical field, including fuselage and the gimbal of being arranged at the bottom of fuselage, and detection module is detachably connected on the gimbal, the bottom of the fuselage is provided with gravity center adjusting mechanism for adjusting the gravity center of fuselage;The gravity center adjusting mechanism includes annular cover fixedly connected at the bottom of fuselage, and the center of the annular cover is concentric with the central axis of fuselage.This kind of unmanned aerial vehicle for inspection of bucket wheel machine, by the gravity center adjusting mechanism of the bottom of fuselage, can be according to gravity center deviation, by liquid supply mechanism, supply into liquid cavity of different directions in annular cover, dynamically adjust the liquid amount in each liquid cavity, realize the gravity compensation of different directions of fuselage;While extrusion mechanism in liquid cavity can limit liquid, inhibit liquid to shake, provide stable counterweight state for unmanned aerial vehicle, effectively improve the stability of flight attitude and the reliability of inspection operation.

The application discloses a self-adaptive gravity compensation trajectory correction method based on a lead angle and belongs to the technical field of aircraft guidance control. The application constructs a dynamic mapping relation between a trajectory deviation and a gravity compensation amount by using the real-time measured lead angle information of the aircraft, adaptively adjusts a gravity compensation coefficient to correct the trajectory, reduces the compensation amount to inhibit the trajectory lifting when attacking a short-distance target, enhances the compensation to offset the falling effect when attacking a long-distance target, improves the problem that the gravity compensation is fixed and does not affect the guidance effect in the traditional method when attacking targets with different distances, reduces the dependence on the difficult-to-measure parameters such as the remaining time in other methods, and improves the striking precision and the shooting range of the aircraft on different targets.

The application discloses a cable stranding machine with eccentricity compensation function and relates to the technical field of cable preparation. The stranding machine comprises a unwinding unit, the unwinding unit comprises a gravity compensation assembly, symmetrical fixing plates are arranged on the pressing unit, a carrier plate is slidably installed on the fixing plate, a unwinding assembly and a pay-off assembly are arranged on the carrier plate, a driving motor is arranged on the pressing unit, a lead screw is installed on the driving motor, a sliding plate is slidably installed on the lead screw, the sliding plate is connected with the carrier plate, electric jacks are installed on both sides of the sliding plate perpendicularly to the fixing plate, a top plate is installed on the electric jack, a pressure sensor is arranged on the unwinding drum of the unwinding assembly, when the wire amount decreases on the unwinding drum of the unwinding assembly, the pressure sensor can control the driving motor to run, the sliding plate is driven to move through the lead screw, the carrier plate drives the unwinding assembly to move synchronously, and automatic compensation of the traction gravity center is realized.

The application is suitable for the technical field of device control, and provides a robot control method and device, a mechanical arm and a storage medium, including: acquiring first attitude data corresponding to a base where a mechanical arm of a robot is located; determining first deviation data corresponding to the base according to the first attitude data and a coordinate conversion matrix between the mechanical arm and the base where the mechanical arm is located; and controlling the mechanical arm based on a gravity compensation coefficient corresponding to the first deviation data. The above method can determine the gravity compensation coefficient according to the first attitude data, and then control the mechanical arm through the gravity compensation coefficient, offset the influence on the control accuracy of the robot caused by non-horizontal placement, realize automatic compensation of placement deviation, and improve the control precision and accuracy of the robot.

The invention discloses a robot grinding force control method based on update rate adjustment, and relates to the technical field of robot control, and the robot grinding force control method comprises the following steps: in the process of grinding a target curved surface workpiece based on a robot, collecting a grinding force signal in real time, and carrying out Kalman filtering processing and gravity compensation on the collected original force signal to obtain a grinding force signal; the actual normal grinding force is determined; for the grinding contact stage, based on the actual normal grinding force and the environment rigidity in the grinding environment, a self-adaptive impedance controller and a corresponding updating rate adjusting equation are constructed; determining an optimal adaptive impedance control parameter in combination with an update rate adjustment equation; and a target adaptive impedance controller is constructed according to the optimal adaptive impedance control parameters, and the position correction amount is determined in combination with the actual normal grinding force, so that a robot motion control instruction is generated. According to the method, the contradiction that dynamic stability and steady-state precision are difficult to consider during grinding force control in an existing related scheme can be solved, and the robustness of a robot to a complex time-varying grinding environment is enhanced.

The invention belongs to the field of robot technologies and intelligent manufacturing, and particularly relates to a design method of a multi-degree-of-freedom series-parallel hybrid robot system for narrow space force control grinding and polishing operation. A series-parallel structure composed of the three-translation parallel mechanism and the four-degree-of-freedom series mechanical arm is constructed, so that the system flexibility and the structural rigidity are both considered. And performing calculation and constraint analysis on the degree of freedom of the parallel mechanism based on a modified Glubler degree of freedom judgment formula, determining to adopt a three-PUU parallel configuration to realize three-translational motion of the mobile platform, and establishing an inverse kinematics model and reachable workspace simulation verification of the three-PUU parallel configuration. Furthermore, a multi-objective optimization function is constructed by taking the dexterity, the rigidity and the space utilization rate as objectives, optimization design is performed on structural parameters, and real-time adjustment and stable control of the grinding and polishing force are realized by combining gravity compensation and contact positive pressure prediction, so that the precision and the adaptability of the grinding and polishing operation of the complex curved surface in the narrow space are improved.

The application relates to a mechanical arm and a robot. The mechanical arm comprises a base, a bearing mechanism rotatably arranged on the base, the bearing mechanism comprising a first connecting rod, a second connecting rod and a third connecting rod, a first end of the first connecting rod being rotatably connected to the base at a first rotation point, a third end of the second connecting rod being rotatably connected to the base at a second rotation point, the third connecting rod being rotatably connected to a second end of the first connecting rod and a fourth end of the second connecting rod, and the third connecting rod being used for bearing a load, and a gravity compensation mechanism rotatably arranged on the base, the gravity compensation mechanism being rotatably connected to the first end, the gravity compensation mechanism comprising an elastic piece, and the elastic piece being stretched or contracted to compensate for the gravity of the load on the bearing mechanism when the bearing mechanism rotates relative to the base. The gravity moment on the balanced mechanical arm can be effectively compensated, and the safety of the robot is improved.

The invention discloses a self-adaptive suspension control system based on dynamic inertia prediction and layered feed-forward compensation. The self-adaptive suspension control system comprises a basic gravity compensation layer, a dynamic inertia compensation layer and an instruction execution layer, through organic combination of'dynamic inertia prediction 'and'layered feed-forward compensation', rapid, accurate and stable compensation of the suspension system in a high-dynamic and multi-mode motion scene is realized, and the technical bottlenecks of a traditional system in the aspects of response lag, bandwidth limitation, insufficient sensing dimension and the like are fundamentally solved; the method has remarkable innovativeness, practicability and popularization value. According to the method, the dynamic response speed and compensation precision of the system are remarkably improved, the control bandwidth and high-dynamic working condition adaptive capacity of the system are expanded, multi-source sensor fusion and intelligent motion state recognition are achieved, the overall stability and anti-interference capacity of the system are enhanced, the application field is widened, and the engineering practical value is improved.

An end effector arm for use with a surgical navigation system includes a base configured to attach to an end effector coupler of a surgical robot arm and a mechanical linkage. The mechanical linkage includes a first end rotatably coupled to the base and a second end opposite the first end, the second end configured to be removably coupled to a handheld surgical tool. The end effector arm further includes a spring mechanism configured to impart a variable rotational force on the mechanical linkage based on an angle of rotation of the mechanical linkage with respect to the base.

The purpose of this disclosure is to provide a multimodal sensing robot adaptive force-controlled servo operation system and control method, including: a distributed real-time acquisition unit, an intelligent decision-making unit, and a robotic arm execution unit; wherein, the distributed real-time acquisition unit is used to collect the status information of any online unit of the industrial robot and acquire sensing data; the intelligent decision-making unit interacts with the distributed real-time acquisition unit to output control commands based on the sensing data; the robotic arm execution unit interacts with the intelligent decision-making unit to complete adaptive servo operation based on drive commands; this disclosure utilizes distributed joint torque sensing and a gravity compensation strategy based on a feedforward current mapping table, combined with... PID The admittance-parallel composite force control algorithm achieves high-precision dynamic tracking of contact force, controlling the tracking error within ±0.5. N Within this range, control precision has been greatly improved.

The application discloses a kind of zero stiffness and gap adjustable pair of roller extrusion devices, including upper rubber roller assembly, lower roller assembly, lifting module and installation fixed component, installation fixed component is installation base, lifting module is installed in the right side above installation fixed component, lower roller assembly is installed in the left side above installation fixed component, upper rubber roller assembly is installed in the just above lower roller assembly, and is connected with the lifting module of one side, is controlled lifting by lifting module.The device of the application realizes the zero stiffness gravity compensation of upper rubber roller and its components;Realize the high-precision adjustable gap between upper and lower pair of rollers, the precision is 0.01mm, the adjustment range is 0~6.5mm;Realize the micro-positive pressure (<10kPa) constant pressure extrusion;Realize the unilateral lifting of upper rubber roller and its components and other functions.The device is simple to operate, can be applied in the explosion-proof workshop of tow preparation, can effectively control the thickness fluctuation of tow when entering crimping machine, improves the quality of tow crimping.

The application provides a wall plastering robot with a gravity compensation device and belongs to the technical field of robots.The gravity lifting plastering robot comprises a mobile chassis, a fixing seat arranged on the mobile chassis, and a mortar mixing trailer for suspension; a gravity compensation lifting mechanism is vertically installed on one side of the fixing seat; a double-arm cooperative spraying and troweling mechanism is fixedly installed at the bottom of the gravity compensation lifting mechanism and is used for spraying and plastering a wall surface; and an automatic centering mechanism is arranged between the mobile chassis and the mortar mixing trailer, one end of the automatic centering mechanism is provided with a locking mechanism, one side of the locking mechanism is connected with the mixing trailer, and the locking mechanism is used for connecting the mobile chassis and the mortar mixing trailer with each other.The application has the advantages that the gravity compensation lifting mechanism can compensate the gravity generated by the double-arm cooperative spraying and troweling mechanism, so that the wall surface can be sprayed with high precision, the troweling effect is good, and the flatness is high.

A robotic system for performing an ocular surgery includes a robot and an electronic control unit (ECU). The robot includes an end-effector, six or more electric motors connected to or operable for moving six or more links and controllable via the ECU, and all-pose gravity compensation structure. A surgical tool is connected to the end-effector. The robot and surgical tool, in response to electronic control signals from the ECU, perform a surgical task on an eye during the ocular surgery. The ECU includes scaling logic operable for downscaling or limiting a tool force imparted to the eye by the surgical tool and / or a tool velocity of the surgical tool. All-pose gravity compensation minimizes a perceived weight of the surgical tool during the ocular surgery. The robotic system may include a surgeon-operated haptic device / master in which the robot acts as a slave device.

The invention discloses a gravity compensation method and equipment of force feedback equipment, a medium and a product, and belongs to the technical field of robots. According to the gravity compensation method of the force feedback equipment, a universal model skeleton diagram of the force feedback equipment is constructed, standardized joint characteristic parameters are collected, an accurate dynamic model is established according to the parameters, and the force feedback equipment is obtained by combining set universality constraint conditions. According to the method, the optimal spring parameters adaptive to master manipulators of different structure types can be automatically calculated by utilizing an iterative optimization algorithm, so that smooth and stable gravity balance is realized in the whole working space of various force feedback equipment, and the operation portability and control precision of the force feedback equipment are remarkably improved.

This invention belongs to the field of robotics and discloses an integrated vision-based independent robot force-controlled end effector and control method. It includes a body component, a floating execution module, a drive unit, a tool mounting unit, a vision detection system, a force sensing unit, an attitude detection module, and a control unit. The body component is connected to the floating execution module via the drive unit. The tool mounting unit is connected to the end of the floating execution module. The force sensing unit detects the axial force on the force transmission path. The attitude detection module is connected to the floating execution module to acquire spatial attitude data. The vision detection system collects local topographic data of the target working surface. The control unit calculates the actual contact force between the tool and the target surface based on the axial force and spatial attitude data, generates a contact force compensation value based on the local topographic data, and generates control commands based on a preset contact force. This achieves full-attitude gravity compensation without relying on external robotic arm data and adaptive, precise force control for complex curved surfaces.

The invention provides a multi-working-condition multi-attitude solar wing ground follow-up type two-dimensional gravity compensation device for a lunar probe. The multi-working-condition multi-attitude solar wing ground follow-up type two-dimensional gravity compensation device comprises a fixing assembly, a pulley assembly, a pulley assembly, a weight assembly and a steel wire rope. The fixing assembly fixes one end of the steel wire rope. The upper end of the pulley assembly is matched with the cylindrical guide rail of the unfolding frame, and the lower end of the pulley assembly is fixedly connected with the pulley assembly. The pulley assembly comprises a fixed pulley assembly and a movable pulley assembly; the fixed pulley assembly is fixedly connected with the pulley assembly, the solar wing is hoisted below the movable pulley assembly to implement gravity unloading, and the fixed pulley assembly and the movable pulley assembly are connected through a steel wire rope to meet the vertical movement of the movable pulley assembly and the solar wing relative to the fixed pulley assembly; the steel wire rope is led out from the fixed assembly and bypasses the fixed pulley assembly and the movable pulley assembly, the tail end is connected with a weight in the weight assembly, and the gravity compensation amount of the solar wing is adjusted through the weight.