39 results about "Holonomic constraints" patented technology

The invention discloses a method for planning an optimal path for incremental environment information sampling of an indoor mobile robot. The method comprises the following steps: (1) acquiring surrounding environment information, and establishing obstacle collision risk-based evaluation probability; (2) planning a path by utilizing an optimal path planning algorithm for the incremental environment information sampling; (3) enabling the indoor mobile robot to select the path and enter a new path planning process. By adopting the optimal path planning algorithm for the incremental environment information sampling, the current optimal path can be planned in real time according to the current conditions of the indoor mobile robot and the inherent nonholonomic constraints of the robot; meanwhile, a collision detection environment in a search tree extension process is optimized; the planning efficiency is improved; the indoor mobile robot can reach a specified position quickly and safely.

The invention relates to a structure with an incomplete spherical constraint added inside. The structure with the incomplete spherical constraint added inside comprises a spherical shell, a idler wheel supports, idler wheels, idler wheel shafts, a servo motor and a big support, wherein the big support is in a T shape, one end of a cross rod of the big support is fixedly connected with the servo motor, the idler wheel supports are fixedly connected with the servo motor through keys, the idler wheel shafts are fixedly connected with the idler wheel supports, and the idler wheels are connected with the idler wheel supports in a rotary mode; the same structure is connected to the other end of the cross rod of the big support, and the structures at the two ends of the cross rod of the big support are distributed symmetrically relative to a vertical rod shaft of the big support; the spherical shell makes contact with the idler wheels in a purely sliding mode, in other words, the idler wheels can only roll along the spherical shell and can not slide, and the directions of the axes of the idler wheels at the two ends are in the parallel and symmetrical state all the time. According to the structure with the incomplete spherical constraint added inside, the incomplete constraint is directly added into a spherical surface, an internal compete spherical constraint is omitted, space is saved, and meanwhile precision is improved.

The invention discloses a non-integrate teleoperation constraint control method based on complex operation tasks. The complex operation tasks are decomposed by calculating the constraint matrix CVF, and a constraint controller is designed finally. Compared with a general mechanical arm control method, the non-integrate teleoperation constraint control method has two beneficial effects on the aspects of the task level and control method for complex space control tasks, specifically, the control tasks which a mechanical arm needs to complete in the space include approaching the target, tracing the path, avoiding obstacles and the like, and since proper movement spinor collections are selected according to the different operation tasks so as to establish the constraint matrix, the method has a better capacity of adapting to the complex tasks compared with prior methods; and besides, by means of the non-integrate teleoperation constraint control method, operation is more flexible, an operator can control the mechanical arm to move only in the horizontal motion direction or rotation direction, no extra constraint is needed, and accordingly the stress of the operator is relieved.

The embodiment of the invention discloses a method for optimizing the joint angle of an underactuated manipulator based on an improved particle swarm algorithm. Including: establishing a plane three-degree-of-freedom passive-active-active (PAA type) underactuated manipulator dynamics model; The order is reduced to two passive-active (PA-type) subsystems, and the relationship between the joint angle and the end position of the manipulator is clarified; finally, the difference between the end position of the underactuated manipulator arm and the target position is used as the objective function, based on the particle swarm The optimization principle of the algorithm introduces the Metropolis acceptance criterion of simulated annealing and the crowding factor of the artificial fish swarm algorithm to solve the optimal joint angle corresponding to the target position. According to the technical solution proposed by the embodiment of the present invention, when the position of the underactuated manipulator is controlled, the probability of the optimization algorithm falling into a local optimum can be reduced and the solution accuracy can be improved.

The invention discloses an orbit expansion based multi-robot tracing formulation control method, comprising the following steps of: a) for a group of target orbit in a plane, expanding vectors of the target orbit, which point to each point on the orbit along the center of the target orbit, into an orbital cluster equivalent to an orbital function, and determining the movable range of robots; b) calculating tracing error by virtue of the orbital function, and designing the virtual angular velocity of the robots to ensure the tracing error to meet design requirements; c) calculating the generalized arc length and differential coefficient of the generalized arc length when the robots move along the orbit, by virtue of the orbital function and the target orbit, and designing the control forceof the robots by virtue of neighbor information obtained by communication to realize formulation; d) calculating the error between the real angular velocity and the virtual angular velocity, and designing the control moment of force of the robot to complete tracing; and e) completing motion control on the robots by virtue of a servo system. The orbit expansion based multi-robot tracing formulation control method disclosed by the invention is especially applicable to nonholonomic constraint dynamic robots and simple and convexly- closed orbits. The method is simple and reliable, has higher accuracy and can be applied to multi-robot optimized information acquisition and the like.

The invention discloses a mechanized mechanics modeling method of a non-holonomic constraint system. During the constraint analysis, intermediate variables are introduced to describe the non-holonomic constraint relationship according to the complex situation of the non-holonomic constraint; the independent generalized velocity contained in the kinetic energy is revealed through the constraint analysis Information, extract the coefficient of the independent generalized velocity product term and define it as an intermediate variable, and rewrite the kinetic energy into a new form of expression; The total derivative of , can be solved by analyzing the subordination structure of variables, establishing a function-variable implication relationship table and introducing compound derivatives; calculating the influence items of non-holonomic constraints on the system is more complicated, and several structure arrays can be defined to store calculation results. In order to avoid the problem of model expansion caused by the back substitution of intermediate variables, the calculation expressions of the model need to be output in reverse order.