552 results about "Inverse kinematics" patented technology

The embodiment of the invention provides an unhooking robot control method based on multi-source visual fusion, which is applied to the technical field of robot control and comprises the following steps: acquiring an RGB image, a depth image, an infrared image and IMU data through a multi-source sensing system mounted at the tail end of a robot; carrying out feature fusion identification by adopting a double-branch neural network, and outputting the boundary contour of the lifting hook and the three-dimensional coordinates of the optimal grabbing point; the visual coordinates are unified to a robot base coordinate system through a registration correction mechanism; a Transform prediction model is constructed based on the visual and inertial signals, and future pose changes of the lifting hook are estimated; a feedforward control track is generated to counteract swing of the lifting hook, and track correction is carried out in combination with visual servo feedback; and a joint instruction is generated through path planning and inverse kinematics solution, and the mechanical arm is driven to complete precise unhooking operation. According to the method, the recognition precision, the anti-interference capability and the operation success rate of unhooking operation in complex illumination and dynamic environments are effectively improved.

The invention discloses an operation and maintenance manipulator intelligent control method and system based on visual identification, and relates to the technical field of intelligent manipulator control, and the method comprises the steps: collecting RGB image data and depth image data of an operation and maintenance operation area, and obtaining a standardized image matrix and a mapping relation matrix; inputting the standardized image matrix into an improved ResNet residual network model, generating a comprehensive feature descriptor, and calculating a spatial position coordinate and an attitude angle of the target equipment based on the mapping relation matrix; based on the current joint angle state of the manipulator, an improved Jacobian matrix inverse kinematics algorithm is used for solving a target angle sequence of each joint, a preset operation mode library is matched based on the comprehensive feature descriptor, and a grabbing force parameter and a motion speed parameter are determined; and converting the target angle sequence into a control instruction, and sending the control instruction to each joint driver of the manipulator to drive the manipulator to complete action planning. According to the invention, full-process automation from environment perception to task execution is realized.

The invention discloses an automatic dovetail welding seam grinding control method based on robot visual positioning, and relates to the technical field of visual positioning. The method comprises the steps that after welding is completed, a dovetail welding seam image is collected and converted into a three-dimensional coordinate through a vision algorithm, and a three-dimensional point cloud is generated; smooth interpolation is performed on the three-dimensional point cloud through a B spline curve method to obtain a parameterized curve, and a control point set is optimized through a genetic algorithm to generate a global optimal polishing path; the polishing robot executes a task according to a path, a tail end sensor collects a real-time path and calculates a deviation value with a global path, and when the deviation value exceeds a preset threshold value, inverse kinematics is triggered to solve and correct the path; the hardness of the dovetail weld is measured through laser-induced breakdown spectroscopy, a comprehensive hardness value is obtained in combination with a matrix hardness database, meanwhile, a visual sensor collects the surface state, and polishing process parameters are dynamically adjusted according to the surface state; after the task is completed, the welding seam angle and flatness are detected. According to the method, the optimal path is generated through visual positioning, and automatic grinding of the dovetail welding seam is achieved.

The invention discloses a physical fitness evaluation method based on human skeleton trajectory tracking, which comprises the following steps: S1, acquiring whole-process video data of a physical fitness test through video acquisition equipment, and generating a video frame according to an acquisition frequency; s2, processing the video frame by using a skeleton dynamic analysis algorithm, and extracting human skeleton key points; s3, extracting identity features of the testee through a motion map identity recognition network, and tracking and confirming the identity features; s4, performing action recognition, fragment segmentation and compliance judgment on the skeleton key point time sequence track; s5, aiming at the abnormal skeleton key points, performing complementation and time sequence smoothing by adopting an inverse kinematics inference method; s6, inputting the complete skeleton key point time sequence data into the human body action evaluation model for processing, and quantizing and outputting a physical ability evaluation index; and S7, generating a physical ability evaluation report and giving action feedback and optimization suggestions. According to the invention, objectivity, accuracy and intelligent level of physical ability evaluation are effectively improved.

The invention provides a five-axis series-parallel numerical control machine tool machining process virtual monitoring simulation method and system based on digital twinning, and the method comprises the steps: building an information interaction mechanism between a physical machine tool and a digital twinning model, enabling a server side to collect sensor data, and transmitting the real-time data to a client side through a communication protocol; the client processes the data and drives the digital twin model. And aiming at potential errors of twin system forecast, tool setting error compensation can be carried out in real time, so that the machining precision is improved. Meanwhile, the system supports an offline simulation function, combines an inverse kinematics algorithm and an NC code, fuses a material removal model, simulates a machining process, evaluates machining performance and errors, and provides an optimization basis for machining strategies of workpieces with different geometrical shapes and materials. According to the method, bidirectional interaction between the physical entity and the virtual model is achieved, the real-time monitoring and visualization capability of the machining process is enhanced, a reliable simulation evaluation and optimization means is provided for machining of complex parts, and the method has wide industrial application prospects.

The invention relates to the technical field of image data processing and intelligent control, and discloses a patch board spot welding track intelligent control method and system based on visual perception. According to the method, synchronous image streams are collected through a binocular vision sensor, and epipolar correction image pairs are generated through timestamp synchronization, ROI extraction and epipolar correction processing; calculating a disparity map by adopting a stereo matching algorithm, and constructing a compensated three-dimensional point cloud model based on deformation vector field fusion multi-frame point cloud data of a radial basis kernel function; welding spot position error vectors are generated by extracting welding spot feature points and performing spatial filtering optimization; and carrying out inverse kinematics calculation on the mechanical arm by adopting a damping least square method, carrying out safety constraint optimization in combination with prospective collision risk assessment and real-time pose data, and generating a trajectory compensation instruction. According to the method, the problems of dynamic deformation compensation and motion safety in patch plate welding are solved, the submillimeter welding spot positioning precision is achieved, and the welding quality stability and the system robustness are improved.

The invention provides a lead screw precision milling closed-loop optimization and real-time control process based on multi-axis linkage, which comprises the following steps of: acquiring geometric parameters of a workpiece, material attributes and kinetic parameters of a machine tool, designing a cutter and clamp scheme, and setting initial processing parameters based on a cutting database; constructing a lead screw spiral groove high-precision curved surface model by using an NURBS curve, and optimizing a path through curvature adaptive discretization and quintic spline interpolation; an idle stroke path is iteratively optimized by adopting a real number coding genetic algorithm, and the total time of the path and the reversing frequency are shortened; multi-axis synchronous control is achieved through inverse kinematics solution, and the cutter inclination angle is dynamically adjusted in real time based on the contact angle; and virtual simulation and finite element analysis are utilized to predict cutting force, thermal deformation and interference risks. According to the method, the continuous and smooth multi-axis synchronization instruction is generated, the positioning error of each axis is effectively reduced, meanwhile, the cutter inclination angle is dynamically corrected through force feedback of the contact angle, cutting force fluctuation is effectively restrained, and it is ensured that the tooth surface roughness of the spiral groove meets the requirement.

The invention provides a real-time monitoring system and method for sorting of a digital twin-driven Delta mechanical arm. According to the system, firstly, a physical experiment platform is built, and a virtual model is built through SolidWorks, 3DMAX and Unity 3D. A communication framework is designed, and wireless communication of the PLC, the sensor, the mechanical arm, the conveying belt and the digital twin system is achieved. Positive and inverse kinematics analysis and Cartesian space trajectory planning are carried out on a Delta robot, and a related algorithm is packaged into an MATLAB function and compiled into a DLL library for C # calling. The system collects joint angle data in real time based on a rotary encoder, transmits the joint angle data to a digital twin system through an OPC UA protocol, and drives a virtual mechanical arm model after resolving, so that high-precision and low-delay virtual-real synchronous pose reconstruction is realized. In addition, the system also develops a collision detection function based on a bounding box algorithm, and performs visual detection by using camera calibration and a YOLO model.

The invention relates to an all-humanoid robot motion redirection method and device based on motion capture equipment, and the method comprises the steps: converting a human body posture quaternion collected by the motion capture equipment into a rotation matrix, and achieving the precise mapping from a Cartesian space to a robot joint space in combination with an Euler angle decomposition strategy; a quaternion-disassembled joint angle is used as an initial solution, various physical constraints are introduced in real time according to the actual supporting state of the robot, and the lower limb joint angle is corrected online by constructing and solving an inverse kinematics problem with various constraints, so that the robot reproduces the action of an operator, and the joint angle of the lower limb can be corrected online. And the requirements of joint limiting, self-collision avoidance, dynamic balance and the like are strictly met, so that the accuracy of motion simulation and the stability of the system are effectively unified.

The invention discloses a path planning method and system for curved surface integrated conformal jet printing, and belongs to the field of additive manufacturing. According to the method, the geometric data of the non-deployable curved surface are obtained and converted into the discretized grid model, then the plane pattern is designed and mapped to the three-dimensional curved surface, the mapped pattern is locally optimized, and the complete printing area model is generated. Path planning is divided into initial jet printing path generation and five-axis linkage motion path planning, conformal characteristics are achieved through an adaptive interpolation algorithm and NURBS curve optimization, five-axis motion parameters are calculated based on an inverse kinematics algorithm, and the positioning relation between a jet printing head and a curved surface is kept through the RTCP technology. The method solves the problems of precision and path planning efficiency in complex curved surface manufacturing, and is suitable for manufacturing heterogeneous complex curved surface functional structures in the fields of aerospace, medical instruments and the like.

The invention discloses a manipulator grabbing control method and equipment based on position and posture recognition. The manipulator grabbing control method comprises the following steps that S1, initial image information of a target object is acquired through image acquisition equipment; s2, performing preprocessing and feature extraction on the initial image information, and obtaining three-dimensional position coordinates and attitude parameters of the target object through a preset position and attitude recognition algorithm; and S3, according to the three-dimensional position coordinates and the posture parameters, a grabbing path of the manipulator is planned by combining a kinematic model of the manipulator. By introducing technical means such as a deep learning recognition algorithm, forward / inverse kinematics model collaborative planning, real-time posture dynamic adjustment and force sensing feedback control, the problems that a traditional mechanical arm is low in grabbing precision, poor in adaptability and insufficient in operation stability are solved, intelligent and high-precision grabbing control in a complex scene is achieved, and the grabbing precision of the mechanical arm is improved. And the requirements of the modern industry on high efficiency, reliability and flexibility of automatic equipment are met.

The invention relates to the technical field of cooperative control, and discloses an anti-corrosion pipe winding angle and linear speed cooperative control method and system. The method comprises the following steps: collecting winding angle and linear speed time sequence data, and constructing a three-layer scale feature vector and a real track deviation; inputting a three-branch LSTM model to output a prediction deviation sequence; calculating a feed-forward compensation amount through an inverse kinematics model; and performing model increment updating based on the prediction error, calculating a feedback compensation amount, and adaptively fusing feedforward and feedback compensation to obtain a cooperative control instruction. The technical problems that in traditional fixed parameter control, dynamic cooperation of the angle and the speed is lacked, compensation response lags behind, feedforward and feedback conflicts exist, and a prediction model cannot conduct self-adaptive evolution are solved.

The invention discloses a wafer carrying speed control method and system, and the method comprises the steps: obtaining the three-dimensional data of a carrying path, decomposing the data into a straight line and a bent segment, and obtaining geometric features; the curvature of the bent section is calculated and smoothly connected, and continuous curvature distribution is determined; dynamically constraining the speed upper limit of each point according to the curvature, and generating a preliminary speed curve; the speed of each axis is calculated through inverse kinematics, iterative optimization is carried out until the speed of each axis is coordinated, and a multi-axis cooperative speed sequence is generated; calculating attitude deviation based on real-time sensor data fusion; and dynamically adjusting the acceleration parameter, optimizing and reducing the deviation, and obtaining a final control instruction. According to the control method, through curvature dynamic planning, multi-axis collaborative optimization and real-time posture self-adaptive adjustment, synchronous improvement of the carrying speed and stability is systematically achieved.

The invention discloses a seven-degree-of-freedom mechanical arm trajectory planning method based on null space optimization, relates to the technical field of mechanical arm intelligent control, and aims to solve the problems that an existing mechanical arm trajectory planning method easily causes sudden posture change and affects trajectory continuity and motion stability when Euler angle velocity is adopted for posture planning. According to the method, the Jacobian matrix is adopted for operation without depending on a complex inverse kinematics calculation process, and the method can be suitable for redundant mechanical arms of any configuration; according to the method, the tail end trajectory is planned in a pose matrix mode, joint layer optimization is achieved through a null space formed by redundant freedom degrees, pose sudden change easily caused when the Euler angle velocity is adopted for pose planning is avoided, and the continuity and motion stability of trajectory planning of the mechanical arm are improved.

The invention provides an autonomous navigation and intelligent obstacle avoidance method of a biomimetic robot, and relates to the technical field of biomimetic robots, which realizes real-time estimation of six-degree-of-freedom poses by collecting environmental data; visual features are extracted by using a convolutional network, an enhanced memory unit is constructed in combination with pose information, a triple index path memory library is maintained through a dynamic memory updating mechanism, and feature similarity retrieval and navigation instruction generation in a backtracking mode are supported; defining a state vector based on a resultant force of a robot pose, a target direction and an artificial potential field, training a strategy network through deep reinforcement learning, and outputting a motion instruction according to Q value maximization; fusing an artificial potential field and a dynamic window method, and optimizing an objective function to obtain optimal linear velocity and angular velocity; and solving a joint angle through inverse kinematics, and combining attitude error feedback to realize body attitude maintenance and foot end trajectory tracking.

The invention belongs to the technical field of mechanical arm control, relates to a bionic mechanical arm elbow joint adjusting angular velocity control method, and solves the problem that an existing method is difficult to meet the collaborative requirements of smooth starting, smooth transition and quick response in bionic actions. Acquiring starting and target positions to generate a motion trail; deducing an expected angle sequence based on forward and reverse kinematics, calculating a target angular velocity, and collecting current angle and angular velocity information in real time; an angle error signal is constructed, an angular velocity control instruction is generated by using a position type PID controller, and PID parameters are dynamically set through an improved algorithm based on state optimization; and a control instruction is input into the elbow joint driving unit, and dynamic adjustment and closed-loop control of the angular speed are achieved. The effect of the method is verified through experiments, and the experiments prove that the precision, robustness and dynamic response capability of angular velocity control of the bionic mechanical arm can be remarkably improved through the method.

The invention discloses a robot dexterous arm teleoperation sharing control method and a related device, and relates to the technical field of robotics.The method comprises the steps that smooth expected pose information and expected angle state information are obtained, and pose information of a mechanical arm of a slave end at the current stage and angle state information and contact force information of a dexterous hand are obtained; based on the expected pose information and the joint angle information of the mechanical arm, the inverse kinematics of the mechanical arm is solved through a nonlinear optimization method, and a joint angle instruction of the mechanical arm is obtained; based on the expected angle state information, the angle state information of the dexterous hand and the contact force information, utilizing a fuzzy logic theory and a dynamic compliance primitive model to carry out adaptive variable impedance control on the dexterous hand to obtain a joint torque instruction of the dexterous hand; and feeding back the contact force information of the dexterous hand in the next stage to a main end operator. The success rate and the working efficiency of the teleoperation robot can be improved.

The invention discloses an underwater multi-mode mobile robot equipped with a flexible bionic gripper, which integrates three operation modes of propeller propulsion, six-foot crawling and target object grabbing, and realizes'movement-attachment-operation 'integrated collaboration. The robot main body adopts a five-thruster vector layout and has a five-degree-of-freedom motion capability; and six groups of three-degree-of-freedom mechanical feet and two groups of three-degree-of-freedom mechanical arms are arranged outside, and a cruising mode, a crawling mode or a grabbing mode can be automatically switched according to tasks. A coordination dual-network hydrogel bionic sucker and a flexible gripper are integrated at the foot end and the arm end, and controllable adsorption and desorption are achieved through a diaphragm pump. The control system generates a rhythm signal based on the central mode generator, and coordinates multi-module actions of paddles, legs and arms in combination with inverse kinematics solution. The robot is suitable for tasks such as wide water area cruising, complex terrain exploration, environment maintenance and seabed sampling, has high maneuverability and high integration degree, and provides an innovative platform for underwater fine operation.

The invention discloses a five-axis machining cutter location linear interpolation optimization control method, which relates to the technical field of numerical control machining, and comprises the following steps: fitting a machining contour to generate a curve expression, determining an operation point sequence based on curvature distribution, and converting the operation point sequence into an actuator pose sequence; based on the model of a five-axis machining machine tool, a total transformation matrix from a base coordinate system to an actuator coordinate system is established through a D-H method, motion parameter changes caused by five-axis elastic deformation and inertia force are established based on the nonlinear beam theory and the Alembert principle, and a nonlinear axis body coupling motion equation is established; a correction expression is generated in combination with the Jacobian matrix, optimal unknown parameters in the correction expression are determined by introducing a quantum fluctuation simulated annealing algorithm, and a correction Jacobian matrix is generated; according to the actuator pose change of the adjacent operation points in the actuator pose sequence, the corrected Jacobian matrix is combined, the inverse kinematics algorithm is adopted to derive the motion parameter vector of the previous operation point, and higher-precision machining control is achieved.

The invention provides a welding track planning method for a four-footed humanoid welding robot. The welding track planning method comprises the steps that the welding robot is navigated to a welding station, and welding seam information is recognized and extracted; motion trail planning is conducted on the double mechanical arms in an interpolation mode, and a mechanical arm tail end trail sequence generated through interpolation is obtained; the inverse kinematics of the double mechanical arms is solved for each pose, multiple sets of joint angular solutions are obtained, and the optimal solution which is coherent in motion and minimum in deviation is screened out; the condition number of the Jacobian matrix of each point of the joint track sequence is calculated, and the potential singular pose of the mechanical arm is analyzed and recognized; needed damping factors are calculated in real time according to the singular degree, and the joint speed of the mechanical arm is smoothly adjusted when a singular point is approached; and collision avoidance analysis is carried out on the tracks of the double mechanical arms. According to the method, by combining inverse kinematics multi-solution optimization selection, trajectory time re-parameterization, a damping least square control strategy and a double-arm space coordination collision avoidance mechanism, the stability, safety and consistency in the welding task execution process are ensured.

The invention relates to a robot grabbing posture determination method, device and equipment and a storage medium, and the method comprises the steps: carrying out the detection and coordinate conversion of part image data based on a three-dimensional object posture estimation model, and obtaining part coordinates and a posture deflection angle under a mechanical arm base coordinate system; the grabbing posture of a to-be-grabbed part is obtained through a three-dimensional object posture estimation model, part coordinates and a posture deflection angle under a mechanical arm base coordinate system are obtained through coordinate transformation, inverse kinematics calculation is conducted on the part coordinates and the posture deflection angle, and the rotation angle of each joint on the robot is obtained; according to the method, the mechanical arm is rotated to enable the joints on the mechanical arm to be controlled according to the corresponding rotating angles, then the grabbing posture of the robot on the to-be-grabbed part is determined, automation of the robot is achieved, and through the automatic part rotating angle recognition and grabbing strategy, manual intervention is reduced, and the production efficiency is improved.

The invention provides a wearable exercise and rehabilitation monitoring system based on multi-modal AI, which relates to the field of electrical digital data processing and comprises a distributed multi-modal sensing acquisition module, a hierarchical wireless data aggregation and transmission module, a 3D human body dynamics reconstruction and modeling module and an intelligent action evaluation and feedback module. The distributed multi-modal sensing acquisition module is responsible for realizing multi-dimensional cooperative sensing of human body motion through heterogeneous sensors, and the hierarchical wireless data aggregation and transmission module adopts a master-slave base station architecture to realize efficient aggregation and low-delay transmission of heterogeneous sensor data. The 3D human body dynamics reconstruction and modeling module is used for realizing high-fidelity 3D skeleton model reconstruction based on inverse kinematics solution of multi-sensor fusion; the intelligent action evaluation and feedback module is used for providing personalized training guidance by constructing a standard action library and realizing multi-dimensional similarity quantitative scoring; according to the system, deep fusion of the multi-modal sensor can be realized, and accurate motion monitoring is provided.

According to a masonry task, a feasible path of a main arm and a feasible path of a slave arm are obtained, tasks of the main arm and the slave arm are subjected to labor division, the operation mode of one-hand grabbing and one-hand gluing of a mechanical arm is achieved, the two arms can efficiently cooperate in the respective task fields, and the work efficiency is improved. The control complexity is reduced, the system efficiency is improved, the cost of each group of executable pose actions in the multiple groups of executable pose actions is solved, the pose actions to be executed are selected according to the cost, inverse kinematics solving is conducted on each masonry point, and the pose actions to be executed are obtained. And operation cost calculation is performed on the solved pose action, and the greedy algorithm is combined to take the shortest execution time as an optimization target, so that the execution efficiency of the action path of the mechanical arm can be effectively improved, the total task duration is remarkably reduced, the beat control of engineering construction is facilitated, the problem of too tight coupling of a cooperation mode of two arms is solved, and the operation efficiency is high.

The invention discloses a mechanical arm teleoperation control method and system based on incremental mapping, and the method comprises the steps: carrying out the noise reduction processing of the position and posture of a handle through adaptive low-pass filtering, and achieving the position and posture consistency mapping from a handle space to a mechanical arm working space after coordinate system axis rearrangement and similar transformation mapping; the system provides two kinds of control output of a pose tracking mode and a speed tracking mode, real-time inverse kinematics solution is carried out through a Jacobian matrix and a damping least square method in the speed mode, and resolution scaling and exponential moving average / spherical linear interpolation smooth filtering are carried out on a target pose in the pose mode. And then the handle motion instruction is mapped into a Cartesian instruction or a joint space instruction at the tail end of the mechanical arm, closed-loop execution is conducted through a real-time state feedback link, and the method can be used for scenes such as robot service, teaching, remote operation and data collection.

The invention relates to the technical field of cleaning robots, and discloses a cleaning method for an internal cavity of GIS equipment and a cleaning robot. The method comprises the following steps: acquiring image information of an internal cavity of GIS equipment, separating a foreign matter area of the image information from a background area, generating a binary mask image, and calculating three-dimensional coordinates of the foreign matter area; a joint angle sequence corresponding to discrete points on the smooth track is converted into a driving signal of a servo motor through an inverse kinematics solver, and the flexible joint arm is driven to approach the foreign matter area point by point; after the tail end of the mechanical arm reaches a target position, the roll type dust-free cloth and the flexible gripper work in parallel to clean a foreign matter area; and generating new image information, inputting the new image information into the U-Net network, carrying out intersection-to-union ratio calculation on the output new mask and the initial mask, recalculating the complementary scanning track and continuing cleaning until the intersection-to-union ratio is greater than or equal to a preset threshold value. The cleaning efficiency and precision of the internal cavity of the GIS equipment are improved.

The invention provides a mechanical arm inverse kinematics iteration solving method and mechanical arm motion control equipment, and relates to the technical field of robot control. According to the method, in the process of realizing inverse kinematics iterative solution for the redundant degree-of-freedom mechanical arm by utilizing the damping least square framework, the limiting risk closeness degree of each solid joint is assessed prospectively, and damping coefficient self-adaptive solution is performed in combination with the pose error of the tail end of the mechanical arm; the finally solved damping coefficient responds to the external task requirement and the internal body state of the mechanical arm at the same time so as to be deeply combined with Jacobian matrix sensitivity self-adaptive attenuation operation, and joint impact limiting is actively and softly avoided from the source; therefore, the real-time performance, the settlement precision, the stability and the robustness of inverse kinematics solving operation of the mechanical arm are remarkably improved, and the phenomena that the mechanical arm shakes in motion, the torque impact of the mechanical arm or the mechanical arm falls into oscillation near joint limiting and the like are avoided as much as possible.

The invention discloses a singularity-avoiding trajectory planning method for a free floating space mechanical arm, and belongs to the technical field of robot trajectory planning. The method comprises the steps that the expected whole-course tail end position track and posture track of the mechanical arm are obtained; setting a control period and circularly executing; at each control moment, a generalized Jacobian matrix and system singularity measurement are calculated, and whether the system is close to singularity or not is judged; traversing all the possible values of the base postures if the base postures are close to singularity, calculating joint angle states and corresponding singularity measurement which do not change the tail end postures, and searching a system configuration corresponding to the maximum singularity measurement; then, the state of the mechanical arm is reconstructed, and the mechanical arm is made to move to the maximum singularity measurement configuration to be separated from singularity; and calculating the inverse of the generalized Jacobian matrix to obtain velocity inverse kinematics, and further calculating the joint angular velocity and the joint angle at the next moment. According to the method, an accurate trajectory planning effect without introducing any theoretical error is realized while the singularity avoidance capability is ensured.

The invention relates to the technical field of numerical control machine tool control, and discloses a numerical control rotary table precision compensation method and system based on digital twinning. The method comprises the following steps: constructing a digital twin model of the numerical control rotary table for simulating a deformation behavior under a thermal-mechanical coupling effect; multi-source physical field sensing data such as bearing temperature, servo motor current and rotary table angular displacement are collected in real time; the digital twin model is driven by the sensing data to perform thermal-mechanical coupling simulation, and a comprehensive error prediction value is obtained; generating a compensation trigger signal based on a comparison result of the error prediction value and a preset threshold value; in response to the trigger signal, generating an axis motion feed-forward compensation instruction through inverse kinematics calculation; and the compensation instruction and the original machining instruction are executed after being superposed. Dynamic prediction and active compensation of the precision of the numerical control rotary table are achieved, and the machining precision and stability are effectively improved.

The invention relates to the technical field of mechanical arm modeling, and particularly discloses a picking mechanical arm coupling dynamics modeling method and device, a terminal and a readable storage medium. The method comprises the steps that the structural composition of the picking mechanical arm is obtained, and a structural model is established; constructing a connecting rod coordinate system of adjacent joints based on an improved D-H parameter method; establishing forward and inverse kinematics models based on the connecting rod coordinate system; parameters of flexible elements in the mechanical arm are collected, and a joint flexible connection model and an elastic dynamic model are constructed; and further introducing a coupling constraint condition, and forming a coupling dynamics modeling framework by combining the elastic dynamics model and the overall dynamics model. According to the model, joint flexibility, structural vibration and dynamic response nonlinear characteristics can be considered, the modeling precision and control robustness of the picking mechanical arm under complex working conditions are improved, and the model is suitable for modeling and control algorithm design of the mechanical arm of a flexible structure.

The invention provides an unmarked action acquisition and analysis method and system, and the method comprises the steps: recognizing static and dynamic 2D key points according to the static and dynamic image data of a tester, and reconstructing the static and dynamic 2D key points into static and dynamic 3D key points; based on the static 3D key points, calculating and optimizing the skeleton length, and performing scaling adjustment on the standard skeleton and muscle model to obtain a static skeleton and muscle model of the testee; estimating skeleton motion attitude information according to the original and optimized dynamic 3D key points, and matching the skeleton motion attitude information to a static skeleton and muscle model of a tester to perform inverse kinematics analysis; estimating ground support force GRF of left and right feet by using an inverse kinematics analysis result based on a dynamic balance relationship of human motion; on the basis of an inverse kinematics analysis result and ground support force GRF estimated values of the left and right feet, counter-acting force and torque required by each joint of the human body are calculated frame by frame by adopting an inverse kinematics method of a rigid body system, and then muscle strength and activation degree are calculated. According to the invention, unmarked action acquisition and analysis can be carried out.