90 results about "Joint angle" patented technology

The invention relates to a mechanical arm control system and method, and belongs to the field of mechanical arm control, and the control system comprises a microkernel controller which calculates the joint angle of each joint of a mechanical arm according to the difference value between the current position and the target position of the tail end of the mechanical arm and sends the joint angle to a servo driver; the servo driver is responsible for closed-loop control of a current loop and a speed loop, accurately executes the position instruction sent by the microkernel controller and feeds back the actual state of each joint to the microkernel controller in real time; the multi-degree-of-freedom mechanical arm serves as an executing mechanism, receives the joint movement instruction from the servo driver, and drives an end effector to achieve any specified pose and complex track in a three-dimensional space through cooperative movement of a plurality of joints; and the instruction unit is used for communicating with the microkernel controller and issuing the target position information of the end effector of the multi-degree-of-freedom mechanical arm to the microkernel controller. By adopting the control method of the control system, the control precision and reliability of the mechanical arm can be improved.

The invention provides a training method and device for a VLA model, and relates to the technical field of intelligent robots with bodies, and the method comprises the steps that the VLA model outputs a joint angle sequence of a mechanical arm of a robot with a body based on visual input and language input; the differentiable forward kinematics module outputs a real-time pose of an end effector of the mechanical arm in a task space; based on joint space loss formed by the joint angle sequence and the joint angle in the teaching data, task space loss formed by the real-time pose and the tail end pose in the teaching data, and task space constraint loss, a multi-objective loss function is constructed, and total loss is calculated; calculating the gradient of the total loss to the joint angle sequence and the real-time pose through back propagation, and optimizing preset parameters of the VLA model; the above steps are repeatedly executed until the total loss meets the expectation, and a trained target VLA model is obtained; the technical problems that when a VLA model is trained in a joint space, the hardware coupling performance is high, and the generalization ability is insufficient are solved.

The invention discloses a VLA task space control method and system for a multi-degree-of-freedom mechanical arm, and relates to the technical field of intelligent robot control, visual information and language instructions when the mechanical arm executes a task are obtained, and a trained VLA model is adopted to obtain a target pose of an end effector in a task space; an IK solver corresponding to the mechanical arm configuration is adopted, and according to the target pose, multiple sets of joint angle solutions of all joints of the mechanical arm are obtained; selecting an optimal joint angle of each joint from the multiple groups of joint angle solutions by adopting a preset optimization criterion; and after the optimal joint angle sequence of the mechanical arm is subjected to track smoothing processing, the mechanical arm is driven to move. Mechanical arm motion control is carried out in combination with a VLA model and an IK solver, the problems that the generalization ability between different mechanical arm configurations is poor, the data collection cost is high and the model interpretability is insufficient are solved, and the generalization ability and data efficiency of mechanical arm control are improved.

The invention belongs to the technical field of mechanical arm joint control, and particularly discloses a preset performance self-adaptive joint control method for a rope-driven super-redundant snakelike mechanical arm, and the method comprises the following steps: carrying out kinematics modeling on a rope joint link of the rope-driven super-redundant snakelike mechanical arm, determining a relation between a rope speed and a joint angle, and determining a preset performance of the rope-driven super-redundant snakelike mechanical arm; calculating a joint jacobian matrix; designing a joint angle controller, defining an angle error and constraining the angle error in a preset performance range, and obtaining control input through an error transformation and return-to-zero dynamics principle so as to realize joint angle control; according to the method, a joint Jacobian matrix is estimated on line, and the joint Jacobian matrix is dynamically updated according to a rope speed error and a return-to-zero dynamic theory so as to adapt to the flexibility, time-varying characteristics and external disturbance of a rope, and the control precision is ensured. According to the method, it can be guaranteed that the joint angle of the rope-driven super-redundant mechanical arm can be accurately controlled under different working conditions, and it is guaranteed that the mechanical arm completes high-precision operation under the complex working conditions.

The invention discloses a singular avoidance control method and device for a six-axis mechanical arm based on virtual seven degrees of freedom. The tail end of the mechanical arm is provided with a virtual rotating shaft which coincides with the original point of a tail end coordinate system and is perpendicular to a rotating shaft of the tail end coordinate system. The control method comprises the steps that position information and angle information of all joints of the mechanical arm and the actual pose and expected pose of the tail end in the current detection period are obtained; based on the position information and the angle information of all the joints, the weight value of the virtual rotating shaft is correspondingly adjusted by combining the state that the mechanical arm approaches the shoulder singular point and / or the wrist singular point, a quadratic programming problem used for avoiding the singular points is reconstructed, and a to-be-executed joint angle increment vector is solved; and on the basis of the to-be-executed joint angle increment vector, the angle value of each joint of the mechanical arm in the next detection period is calculated, and the mechanical arm is controlled to move on the basis of the angle value of each joint so as to avoid shoulder singular points and / or wrist singular points of the mechanical arm.

The invention provides a mechanical arm control method and device, computer equipment and a storage medium, and the method comprises the steps that the target tail end pose and the initial joint angle of a mechanical arm are obtained; based on the target tail end pose, self-motion variables are introduced to parameterize the joint space of the mechanical arm, and multiple sets of candidate joint angles are obtained; constructing a joint motion cost function, and determining the total cost of moving from the initial joint angle to each group of candidate joint angles based on the joint motion cost function; traversing the value range of the self-motion variable, and screening out a solution with the minimum total cost from the multiple groups of candidate joint angles according to the joint motion cost function to serve as an optimal inverse kinematics solution; and a control signal is generated based on the optimal inverse kinematics solution, all joints of the mechanical arm are driven to move, and therefore the tail end of the mechanical arm reaches the target tail end pose. By the adoption of the method, the accuracy, economical efficiency and reliability of mechanical arm control can be improved.

The invention discloses a mechanical arm joint angular position self-adaptive specified time control method which comprises the following steps: step 1, establishing a dynamic model of a mechanical arm system, and initializing the state and control parameters of the mechanical arm system; step 2, designing an expected error trajectory of specified time convergence, and defining an error variable; and step 3, designing a specified time controller, and realizing rapid tracking of an expected angular position trajectory within specified time. According to the method, specified time tracking control over the angular position of the joint of the mechanical arm can be achieved, and meanwhile the controller does not need to be switched to guarantee continuity and boundaries of the controller; compared with a minimum upper bound of convergence time provided by limited / fixed time control, the method can realize convergence of the angular position error at an accurate specified time.

The invention relates to the technical field of robot motion, in particular to a variable load working condition heavy-load mechanical arm kinematics parameter calibration method and system. The method comprises the steps that joint angle parameters and theoretical Standard D-H model parameters are determined; the theoretical position of the end effector in the ideal state is determined; the actual position is determined, and the position error of the end effector is determined; the deflection under the preset load condition is determined, and corrected D-H model parameters are obtained; determining a load effect based on the parameter structure characteristics; introducing the load effect as a correction item into a parameter updating formula of a preset LM algorithm, and designing an adaptive compensation coefficient to adjust the contribution degree of the load effect; and dynamically adjusting the adaptive compensation coefficient through a convergence index in an iteration process of the LM algorithm. According to the method, the calibration precision of the kinematics parameters of the mechanical arm can be improved under the variable load working condition.

The invention discloses a mechanical arm hierarchical motion planning method and device in a dynamic environment, and belongs to the technical field of mechanical arm motion planning. A target position of the mechanical arm is set, and a collision-free initial global path from the current position of each joint of the mechanical arm to the target position is planned; a continuous and smooth planned mechanical arm movement track is generated; generating the angular velocity control quantity of each joint of the mechanical arm; on the basis of avoiding the static obstacles, when it is detected that the moving range of the mechanical arm contains the dynamic obstacles, a dynamic obstacle avoiding frame is constructed in combination with a dynamic control obstacle function (DCBF); and a signal sequential logic STL is introduced into the dynamic obstacle avoidance framework to carry out task constraint, and the mechanical arm is controlled to carry out dynamic obstacle avoidance. The method is simple in step, high in execution efficiency and capable of guiding the mechanical arm to avoid obstacles and complete tasks in real time.

The invention discloses a task-driven active and passive fusion mechanical arm motion evaluation method and system, and the method comprises the steps: guiding a mechanical arm task, and collecting a joint angle data sequence; performing time alignment and smoothing processing to obtain an ideal demonstration track; inputting into a dynamic motion primitive model for learning to obtain model parameters; generalizing a new joint angle sequence conforming to the trajectory shape; a real-time control instruction is generated by taking the real-time control instruction as a reference track and adopting a reinforcement learning controller, and the mechanical arm is driven to track the reference track; and a multi-dimensional evaluation index system is constructed, and quantitative evaluation is conducted on the motion performance, the energy consumption efficiency and the intelligent level of task execution of the mechanical arm. According to the method, the robustness and the self-adaptive capability of the mechanical arm in different task scenes are remarkably improved, so that the efficiency and the safety of automatic operation are improved while stable operation is ensured.

The embodiment of the invention provides a trajectory optimization method and device, electronic equipment and a storage medium, and relates to the technical field of robots. The method comprises the steps that a preset trajectory of the tail end of a mechanical arm is obtained; interpolation is carried out based on points in a predetermined track, and a plurality of interpolation track points are obtained; aiming at a first track point in the starting point, the target point and the interpolation track point, determining a posture reachable interval which can be reached by the tail end of the mechanical arm at the position of the first track point; determining a target attitude for the first track point based on the attitude reachable interval of the first track point; and the posture of each first track point is updated to be the corresponding target posture, so that an optimized mechanical arm track is generated. Therefore, the task execution efficiency of the mechanical arm can be improved under the condition that the track point at the tail end of the mechanical arm has no inverse solution of the corresponding joint angle.

This application discloses a training method, apparatus, device, and storage medium for a joint angle prediction model, relating to the field of computer technology. The method includes: acquiring training sample data, which includes skeletal parameters, sample wrist joint pose sequences, and arm angle labels for the sample wrist joint pose sequences; obtaining arm angle feature information based on the sample wrist joint pose sequences using a selective state-space network of the joint angle prediction model to be trained; obtaining elbow position prediction information based on the arm angle feature information and skeletal parameters using a differentiable kinematic layer of the joint angle prediction model to be trained; and iteratively updating and training the joint angle prediction model to be trained based on a preset objective function, the training sample data, the arm angle feature information, and the elbow position prediction information to obtain a trained joint angle prediction model.

The invention provides a human body joint angle measuring method and device, and the method comprises the steps: obtaining the sensing data of a multi-mode sensor for synchronously monitoring a joint angle to be measured, obtaining the joint angle measured by various sensors based on the sensing data collected by the various sensors, and calculating the angle of the joint. Joint angles measured by various sensors are subjected to data fusion through a fuzzy neural network, and a final accurate joint angle measurement result is obtained. According to the method, the inherent limitation of the technology of measuring the joint angle through a single sensor is overcome, the joint angle is measured through multiple sensors used for measuring the joint angle, fusion is carried out, and advantage complementation is achieved. The invention further provides a multi-mode sensor which comprises an inertial measurement unit, a flexible strain sensor and an optical distance measurement sensor, and in the joint angle measurement process, the defect of a single sensor is eliminated through a data complementation and fusion algorithm.

The application relates to a multi-channel fused exoskeleton joint gait synchronous assistance control method, a system and a storage medium, wherein the method comprises the following steps: acquiring joint angle data and joint angular velocity data of a target user; inputting the joint angular velocity data into an adaptive oscillator to obtain an oscillation phase and an oscillation frequency; performing convergence determination on the adaptive oscillator according to the oscillation frequency to obtain a convergence determination result; fusing a first channel torque and a second channel torque according to the convergence determination result to obtain a target output torque; and driving an exoskeleton joint to generate assistance based on the target output torque. Through the application, the problem that an adaptive oscillator causes an assistance blank period due to a convergence process in the related art is solved, and assistance can be provided in each stage of user walking.

A motor torque control method for direct teaching of an articulated robot, in which, during direct teaching, joint angles and joint angular velocities of joints of the articulated robot when an end effector of a robot arm is moved to a teaching target position are acquired by a sensor; calculating a deviation of an end effector variable of the robot arm and a speed deviation of the end effector variable on the basis of the joint angle and the joint angular velocity of each joint acquired by the sensor; the control target value of the joint torque of each joint is calculated by a mathematical expression in which an inertia compensation term is omitted on the basis of the deviation of the end effector variable of the robot arm, the speed deviation of the end effector variable, and the joint angle of the robot arm, and the control target value of the joint torque of each joint is calculated by a mathematical expression in which the inertia compensation term is omitted. The motor torque of the motor built in each joint is controlled to the calculated control target value of the joint torque.

The invention provides a dexterous hand control method and system. The method is applied to the electronic equipment, the electronic equipment displays a virtual model corresponding to dexterous hand equipment, and the method comprises the following steps: detecting a dragging operation for a target joint of the virtual model; determining a first joint angle of each joint in the dexterous hand equipment according to the dragging operation; and sending a control instruction to the dexterous hand equipment, wherein the control instruction comprises the first joint angle of each joint. By means of the method, the entity dexterous hand device can be directly controlled through the virtual model, the control efficiency is improved, and the operation threshold is lowered.

The invention discloses a kinematics semi-analytical modeling method and terminal for a human wrist-simulated parallel mechanism, and the method comprises the steps: constructing a global coordinate system, a first coordinate system and a second coordinate system when the wrist parallel mechanism is subjected to kinematics positive solution, and then obtaining a target D-H expression corresponding to the tail end pose of the human wrist-simulated parallel mechanism, a target D-H expression is obtained, the target D-H expression shows the relation between the tail end pose and a first joint angle and the relation between the tail end pose and a second joint angle, then a target modular length expression is obtained, the target modular length expression shows the relation between a first modular length and the first joint angle and the relation between a second modular length and the second joint angle, and finally, the target D-H expression shows the relation between the tail end pose and the second joint angle. And obtaining numerical values of a first modulus length and a second modulus length, and substituting the numerical values of the first modulus length and the second modulus length into the target D-H expression and the target modulus length expression to obtain a tail end pose. The invention provides a solution capable of completing operation on a low-computing-power platform for a parallel mechanism simulating a human wrist.

To shorten time until a solution converges in iteration, in a method for controlling a robot's operation.SOLUTION: A method for controlling an articulated robot's operation includes: a first step of outputting a first joint angle that is a joint angle at the first time, regarding at least one joint; and a second step of outputting a second joint angle that is the joint angle at the second time after the first time by iteration, through the use of an initial value set by using the first joint angle output in the first step, so as to output the second joint angle, regarding the at least one joint.SELECTED DRAWING: Figure 4

The present application relates to the field of hydraulic mechanical arm, especially to a five-axis hydraulic mechanical arm control method based on inequality constraint, comprising the following steps: defining the generalized coordinates of the mechanical arm according to the improved D-H parameter method, establishing a dynamics model satisfying Newton mechanics or Lagrange mechanics, optimizing the dynamics model according to the inequality constraint condition to obtain the dynamics model of the mechanical constraint system, and adopting the space mapping mode to convert the master arm remote lever Cartesian space to the slave hydraulic mechanical arm Cartesian space to expand the operation space of the master robot on the slave robot. The present application adopts the DH parameter method to establish the base coordinate system with the base center point of the mechanical arm as the origin, and positions the position of the whole mechanical arm according to the joint angle, and then combines the inequality constraint mode to establish the mechanical arm controller, so as to reduce the error between the control parameter output by the controller and the actual operation state and the expected operation state.

The invention discloses a six-degree-of-freedom robot inverse kinematics solution solving and selecting method which comprises the following steps: establishing a kinematics model according to DH parameters of a six-degree-of-freedom badminton robot; calculating the origin position of a fourth joint coordinate system; calculating the angle of the first joint; calculating the angle of the second joint; calculating the angle of the third joint; calculating the angle of a fifth joint; calculating the angle sum of the fourth joint and the sixth joint; converting angles of a plurality of solutions of the inverse kinematics into intervals by integrating the solution and the condition that the inverse kinematics has a plurality of solutions; and selecting inverse kinematics by adopting a selection strategy. According to the method, the kinematics model is established based on the DH parameters, all joint angles are solved step by step, the solving process is simplified, error accumulation caused by complex operation is reduced, and the inverse solution solving precision is improved; a possible solution of the inverse kinematics is converted to a specific interval, and weighted evaluation is performed through a systematic selection mechanism, so that the limitation of a traditional method is overcome.

The present application relates to a kind of mechanical arm end six-dimensional force sensor parameter identification joint angle selection method, for improving the parameter identification precision based on geometric model six-dimensional force sensor parameter identification sample selection, belong to parameter identification field.The present application includes: step 1: establishing identification equation;Step 2: according to the corresponding geometric shape, determine the change range of independent variable in identification equation;Step 3: set the first three joint angles in each identification sample;Step 4: under the premise of meeting the corresponding relationship between independent variable and joint angle, fix redundant joint angle;Step 5: parameter identification is carried out using the set sample.The present application solves the problem of expensive time cost caused by real-time acquisition of a large amount of different end posture data of mechanical arm.

The application discloses a kind of based on digital twinning's double-arm collaborative bolt precision assembly system and method, belong to industrial automation and digital twinning processing technical field.The method is by constructing the virtual double-arm model consistent with the kinematics of physical double mechanical arm system;Based on the real end pose data and virtual end pose data of main mechanical arm under multiple groups of joint configuration, construct the error prediction model of joint angle vector to virtual end pose error;Obtain the visual data of work area containing target bolt to obtain the target pose information of target bolt;According to target pose information, generate the target pose of main mechanical arm and slave mechanical arm, drive double-arm motion to bolt assembly work position;Real-time supervision is carried out to double-arm pose using error prediction model, based on preset relative pose constraint, by real-time calculation slave mechanical arm target pose and generate control instruction.The application significantly improves the automation level and work reliability of complex assembly task.

The invention provides an inverse solution method and device for a multi-degree-of-freedom mechanical arm. The method comprises the steps that a fourth candidate position corresponding to a fourth joint on the mechanical arm is selected; a first joint angle is determined according to the fourth candidate position and the spatial attitude relation between the axes, the forward kinematics expression of the fourth joint is solved through the first joint angle, and a second joint angle and a third joint angle are determined; the forward kinematics expression of the mechanical arm is converted into a first expression used for representing the single-axis rotation problem, and the first expression is solved to determine a fourth joint angle; determining a fifth candidate position according to the first joint angle, the second joint angle, the third joint angle and the fourth joint angle; and when the error permission condition is not met, re-selecting the fourth candidate position. By adopting the inverse solution method and device of the multi-degree-of-freedom mechanical arm, the solution efficiency and the numerical stability of the inverse solution process of the mechanical arm are improved.

The application discloses a DH parameter automatic calibration method, device and equipment of a redundant mechanical arm and medium. The method comprises the following steps: acquiring a redundant mechanical arm and a calibration device of a robot to be calibrated, and controlling the end effector of the redundant mechanical arm to physically contact and rigidly lock with multiple different planes on the calibration device; under the condition that the position of the end effector of the redundant mechanical arm is unchanged, the motion of multiple different joint configurations is controlled at each locking position of the calibration device, and the joint angle data corresponding to various joint configurations is collected; the joint angle data collected at each locking position of the calibration device is used as an optimization target to minimize the dispersion degree between multiple end poses calculated by forward kinematics with the same set of DH parameters, and the DH parameters of the redundant mechanical arm are optimized; and the DH parameters of the redundant mechanical arm obtained after optimization are updated to the robot control system. The application improves the calibration accuracy of the DH parameters of the mechanical arm.

The application discloses a kind of mechanical arm control method, device, equipment and medium.It is applied to mechanical arm, and mechanical arm includes at least one joint and the joint motor corresponding to each joint.By obtaining the joint angle of each joint in mechanical arm;Determine the joint motor current corresponding to the joint angle of each joint based on pre-trained angle-current mapping model;The joint motor current of joint is assigned to the joint motor corresponding to joint, to make joint motor drive joint based on joint motor current, keep mechanical arm in balanced state.The embodiment of the application can directly map the joint angle of each joint to the joint motor current that can keep the balanced state of mechanical arm, without considering the influence brought by the internal structure of mechanical arm, effectively avoid the problem that joint motor current is difficult to determine due to the difficulty of mechanical arm parameter acquisition, accurate joint motor current can be quickly determined, which helps to keep the balanced state of mechanical arm.

A method for determining an unworn state of a sensor system comprising a pair of sensors configured for mounting on first and second body parts on either side of a joint is disclosed. The method comprises obtaining one or more measurements from each sensor; calculating a relative angle between the two sensors using one or more of the obtained one or more measurements; calculating a joint angle between the first and second body parts using one or more of the obtained one or more measurements, wherein the joint angle is defined within a normal plane of flexion of the joint; and determining whether either of the sensors is not mounted based on the calculated angles, and if so, determining that the system is in an unworn state. A system for providing information about a joint is also disclosed.

The application relates to an environment perception-based mechanical arm obstacle avoidance trajectory planning method and system, which comprises the following steps: acquiring joint angle data and end effector position data of a mechanical arm, establishing a joint space for mechanical arm work according to the joint angle data and the end effector position data; acquiring environment point cloud data, extracting obstacle information based on the environment point cloud data, and acquiring a safe operation space of the mechanical arm through the obstacle information; acquiring a current joint angle combination of the mechanical arm, converting a position difference between the current joint angle combination and a target position into an angle increment in the joint space, and adjusting an angle value exceeding the boundary of the safe operation space, so as to complete obstacle avoidance trajectory planning of the mechanical arm. The application can realize a grabbing task while avoiding obstacles.

The invention discloses a robot tail end pose joint angle determination method, related equipment and a program product, a first model is introduced, and the first model represents a manifold where a reasonable feasible region of a robot joint angle is located; the reasonable feasible region is a sub-region formed by the joint angle of the robot in a non-singular state in the complete feasible region of the joint angle of the robot. Based on the target tail end pose and the first model, a target joint angle is solved through an optimization algorithm, an optimization target comprises a first sub-target and a second sub-target, the first sub-target is used for minimizing the deviation between the tail end pose obtained through forward kinematics calculation of the candidate joint angle and the target tail end pose, meanwhile, the joint angle physical constraint condition is met, and the joint angle is obtained; the second sub-target is used for enabling the candidate joint angle to approach the manifold represented by the first model. The determined target joint angle is in the reasonable feasible region of the joint angle, so that the probability that the robot is in a singular state is reduced, and the stability and safety of robot operation are improved.

The application belongs to the field of mechanical arm, and discloses a working space determination method of a stacking robot, and proposes a calculation method of the end motion range of a mechanical arm during joint motion and Cartesian motion. For a stacking robot with the same configuration, the joint angle and arm length are given, and the corresponding joint and end motion range can be calculated. The method is simple in calculation, time-saving, easy to program, and considers the constraints of the mechanical structure, thereby ensuring the safety of people and equipment. Then, the change of the motion range caused by the end gripping goods is calculated. Finally, based on the solved motion range, a torus composed of two concentric circles at a certain height is calculated, the intersection of the torus and the conical region determined by the first joint of the mechanical arm is obtained, and then all the heights are traversed to obtain the working space of the whole stacking robot.

The invention discloses a multi-joint high-degree-of-freedom body position posture correction learning chair, relates to the technical field of body position posture correction, and is obviously different from a conventional learning chair in that non-forced correction actions are adopted, a plurality of joint pieces are formed according to a spine direction and a rib direction, a spine imitation block and a rib direction imitation block are mainly used, and a high-degree-of-freedom adjustment process is realized. The key lies in that the built bimodal management system realizes real-time monitoring and intelligent analysis of the body posture of the user by collecting sitting posture pressure distribution data and joint angle information of the user, obtains a 3D model according to an analysis result, and dynamically adjusts the supporting strength and angle of the spine imitation block and the rib imitation block, so that the posture of the user is accurately and accurately adjusted. And a sitting posture health report is pushed to user terminal equipment through a wireless communication technology, and a correct sitting posture according with ergonomics is formed in dual modes of active user guiding and mechanical / muscle memory, so that a closed-loop posture correction and behavior intervention mechanism is formed.