47 results about "Joint acceleration" patented technology

This invention relates to a method for generating a motion of a human type link system, such as in a humanoid robot. In this invention, a dynamically feasible motion of the link system is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible from by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by a calculating from dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acted on the link system and the acceleration of the link system caused by the said acceleration

The invention discloses a barrier escaping motion planning method based on an impact degree. The method comprises the steps of 1) designing barrier escaping motion performance indices based on the impact degree so that the designed motion performance indices are subject to a Jacobian matrix equation based on the impact degree, a barrier escaping inequation based on the impact degree, joint angle limitation, joint speed limitation, joint acceleration limitation and joint impact degree limitation, and generating a quadratic form optimization redundancy analysis scheme, 2) transforming the quadratic form optimization redundancy analysis scheme generated in the step 1) into a secondary planning problem, 3) solving the secondary planning problem in the step 2) by use of a secondary planning solver, and 4) transferring the solution result of the step 3) to a lower computer controller to drive a mechanical arm to move. According to the barrier escaping motion planning method, the barrier escaping motion performance indices based on the impact degree are designed, the mechanical arm is controlled to escape a barrier at an impact degree layer, and meanwhile, the mechanical arm is capable of completing a given tail end task.

The invention provides a repetitive motion planning method for a redundant manipulator, which comprises the following steps of: 1) resolving a manipulator repetitive motion scheme on an acceleration layer by adopting quadratic model optimization through an upper computer, designing the minimum performance index as repetitive motion, and restraining by an acceleration Jacobian equation, a joint angle limit, a joint speed limit and a joint acceleration limit; 2) converting the quadratic model optimization in the step 1) into standard quadratic programming; 3) solving the standard quadratic programming in the step 2) by using a linear projection equation-based primal-dual neural-network solver or quadratic programming numerical method; and 4) transmitting a solving result in the step 3) to acontroller of a lower computer for driving the manipulator to move. The method realizes the repetitive motion of the manipulator on the acceleration layer, has good control effect on the redundant manipulator inconvenient to control, and can effectively prevent the manipulator from exceeding the limits and being physically damaged according to various joint limits.

The invention discloses a robot trajectory synchronization control method. The linear acceleration and angular acceleration in space are converted into the joint speed and joint acceleration of the robot. If there is a deviation between the pose and joint speed of the robot end and the set value, the inner loop control loop is introduced to control each joint of the robot to increase according to the joint acceleration. Deceleration; in each control interpolation cycle of the robot, according to the deviation between the set pose and the actual pose of the robot end, the joint acceleration of each joint is calculated and applied to the controller of the inner loop control loop of the robot. The method of the invention adjusts the motion of each joint of the robot in real time according to the deviation between the robot end feedback pose and the theoretical pose, and improves the trajectory accuracy of the robot.

The invention discloses a robot joint acceleration constraint planning method and system, belonging to the field of robot motion track kinematics planning. Including: establishing the D-H model of each link of the robot, obtaining the homogeneous transformation matrix and the rotation transformation matrix of the D-H link coordinate system; respectively transforming the centroid coordinates of each link from the base coordinate system to the corresponding D-H In the H-link coordinate system, obtain the equivalent moment of inertia on the motor shaft of each joint under the current pose; consider the influence of the load, update the equivalent moment of inertia; establish the dynamic equation of each link, and obtain the acceleration and motor output The functional relationship of the torque; according to the equivalent moment of inertia and the functional relationship, the amplitude constraint of the acceleration is obtained. The invention can comprehensively consider the influence of the gravity of the connecting rod of the robot and the end load on the equivalent moment of inertia of the motor shaft of each rotating joint, and analyze the maximum value of the acceleration of the motor shaft of the joint in this posture, thereby improving the motion efficiency.