18 results about "Joint coordinate system" patented technology

The invention provides a control method of an unequal-arm independent vacuum manipulator, which comprises the following steps: S1, the vacuum manipulator sets a corresponding control mode according to an instruction sent by an upper computer and in combination with a taught station position, and the control mode comprises single-taking single-placing, multi-taking multi-placing and cross-taking-placing; s2, according to the selected control mode and the station position, planning to obtain a motion track; s3, through a forward or backward kinematics algorithm, a manipulator joint coordinate system and a motor coordinate system are converted, and position point decoupling is carried out on the motion trail; and S4, the vacuum manipulator transmits the wafer according to the decoupled position point and the motion trail. In the wafer transmission process, the vacuum manipulator supports multiple transmission modes including single-mechanical-arm-assembly wafer taking and placing, double-mechanical-arm-assembly simultaneous wafer taking and placing and double-mechanical-arm-assembly cross wafer taking and placing, and the wafer transmission efficiency of the manipulator is improved to the maximum extent.

The invention relates to a virtual hand grasping perception and exoskeleton force feedback mapping method based on virtual-real interaction, and belongs to the technical field of virtual reality, the method comprises the following steps: building a hand exoskeleton, and reading joint data in real time; calculating the pose of each joint coordinate system of the virtual hand relative to the virtual world; according to the calculated poses of all the joints of the virtual hand, the virtual hand is driven to synchronously move with the hand exoskeleton in real time; collision and contact events of the virtual hand and the digital object are monitored in real time, and virtual interaction force generated when the virtual hand interacts with the digital object is calculated; calculating feedback torque required to be output by each hand exoskeleton motor of the hand exoskeleton, and driving the motors to output corresponding feedback force through a motor controller of the hand exoskeleton, so as to realize force feedback of the hand. According to the method, the interaction reality sense in the virtual reality application can be enhanced, the user can interact with the virtual environment more naturally in an immersive mode, and the user experience is improved.

A system for acquiring, standardizing and evaluating biomechanical kinematics data of a joint includes a device for acquiring biomechanical kinematics of the joint and processing it in a computer-readable manner. A display device displays visual output to a user. A control unit processes the kinematics and determines a progression of kinematics parameters of the joint with respect to a first joint element with a first joint coordinate system and with respect to a second joint element with a second joint coordinate system. A standardization unit determines, via a predetermined target optimization, a transformation for adjusting an orientation and / or position of the first and / or second joint coordinate system to carry out a standardization, and output an evaluation via the display device. A method is used to acquire, standardize and evaluate biomechanical kinematics data of a joint, and can be executed by a computer with a computer-readable storage medium.

The invention provides a robot action redirection method, a storage medium, electronic equipment and a product, and relates to the field of robot control. The method comprises the steps that motion data of a to-be-simulated object and pre-configured joint offset parameters are obtained, wherein the joint offset parameters are used for describing rotation transformation data from a joint coordinate system of the to-be-simulated object to a joint coordinate system of a robot; based on the joint offset parameters, joint offset mapping from the to-be-simulated object to the robot is established; and based on the joint offset mapping, converting the motion data of the to-be-simulated object into motion data of the robot so as to drive the robot to execute corresponding actions. According to the method, the difference between the to-be-simulated object and the robot in joint coordinate system rotation transformation can be effectively eliminated, the physical feasibility and motion naturalness of robot actions are ensured, and the interaction requirements in a complex interaction scene are met.

The invention discloses an automatic mounting method and system for a cambered surface wood board based on dynamic point cloud analysis, and the method comprises the steps: building a joint coordinate system of a mechanical arm and point cloud collection equipment, and obtaining a calibration matrix through a specific motion track of the mechanical arm; carrying out initial scanning on the cambered surface substrate on which the wood board is not mounted, and carrying out single-side arc fitting by utilizing a single-side point cloud fitting algorithm to obtain an initial circle center coordinate and a radius; entering a dynamic installation cycle, collecting local point cloud data of the current installation area, and executing Z value mutation feature detection to identify the edge position of the installed part; calculating an actual installation deviation based on the edge position, and dynamically compensating a pose parameter of the wood board to be installed according to the deviation; and according to the cambered surface radius updated in real time, the installation number of the remaining wood boards is adjusted in a self-adaptive mode, and control instructions of the to-be-installed wood boards are generated in batches and sent to the mechanical arm to be installed till all laying is completed. According to the invention, the installation precision and the engineering efficiency of cambered surface packaging are obviously improved.

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 embodiment of the invention provides a kinematics parameter calibration method and device of a mechanical arm, electronic equipment and a medium, and belongs to the technical field of robots. The method comprises the following steps: constructing a kinematic model of a first pose of the mechanical arm to obtain a first kinematic parameter; and constructing a real transformation matrix between the reference coordinate system and the first tail end coordinate system. And constructing a pose homogeneous matrix for the reference coordinate system, the first base coordinate system, the first joint coordinate system and the first tail end coordinate system according to the first kinematics parameters. And calculating a loss function according to the real transformation matrix and the pose homogeneous matrix, and obtaining a kinematics parameter offset value. And then a kinematics model of the second pose of the mechanical arm is constructed, and the second kinematics parameter is updated through the offset value. And a loss function is calculated again, iterative optimization is conducted continuously till the parameter offset value meets the preset condition, and finally the mechanical arm kinematics parameters are corrected through the optimized parameters. According to the embodiment of the invention, the calibration efficiency of the kinematics parameters of the mechanical arm can be improved.

The invention discloses a long-term identity recognition method and system for multi-cat individuals. Face three-dimensional point cloud data, cat eye iris data and palm print data of a cat are collected and converted into the same three-dimensional joint coordinate system, and alignment of a physical space is carried out. Then, three parallel feature extraction networks are used for performing feature extraction on the aligned data, and preliminary fusion features are obtained after splicing and dimension reduction; and carrying out attention enhancement and residual connection on the preliminary fusion feature to obtain a fusion feature vector. And the fusion feature vectors of the individuals in different periods are stored in a historical feature sequence according to a time sequence, and a feature library of the multiple individuals is constructed. And through cosine similarity comparison, finding an individual most similar to the individual to be identified in the feature library as a candidate cat. And predicting the time sequence evolution characteristics of the candidate cats, judging the identity of the to-be-identified individual according to the similarity among the time sequence evolution characteristics, the historical characteristics and the to-be-identified individual, and performing rolling updating on the characteristic library.

The invention provides a robot FKM kinematics modeling method, and aims to solve the problems of rotation and translation coupling, non-intuitive parameter significance, complex modeling and the like in the existing robot kinematics modeling process. The method comprises the following steps: establishing a joint coordinate system of the robot, and determining a transformation parameter of each joint and a homogeneous transformation matrix of an adjacent coordinate system; wherein the expression of the homogeneous transformation matrix has two forms according to different joint types, and the expression of a rotating joint is as shown in the specification, and the expression of a moving joint is as shown in the specification. A translation transformation matrix of the coordinate system relative to the coordinate system is in the formula; the rotation transformation matrix is a rotation transformation matrix rotating around the translated X axis; the forward kinematics model of the robot can be obtained by sequentially multiplying the homogeneous transformation matrixes of all the joints for the rotating joints as a rotation transformation matrix rotating around the rotated Z axis and for the moving joints as a translation matrix moving along the rotated Z axis. According to the method, basic transformation and joint variables of the coordinate system are decoupled, so that the modeling process is more visual, the parameter significance is clearer, and the method can be widely applied to the field of kinematics modeling and control of industrial robots and service robots.

The application relates to the technical field of semiconductor manufacturing, and discloses a control method, system and device of a vacuum manipulator and a storage medium. The control method of the vacuum manipulator comprises the following steps: establishing a kinematics model between a motor coordinate system and a joint coordinate system of each manipulator; after receiving a motion instruction, planning an initial motion path from a starting point to an initial target point for each manipulator indicated by the motion instruction; generating a control instruction of a motor corresponding to each manipulator based on the kinematics model and the initial motion path planned for each manipulator, so that each manipulator is driven to perform asynchronous motion; in the process that each manipulator moves to the initial target point according to the initial motion path, a dynamic correction operation is executed in real time, the manipulator is controlled to move from a current position on the initial motion path to a correction target position along a correction motion path, and the placement of a wafer is completed. The technical scheme of the application improves the transmission efficiency of the manipulator and also improves the transmission accuracy of the manipulator.

The invention relates to the technical field of semiconductor manufacturing, and discloses a control method, system and equipment of a vacuum manipulator and a storage medium. The control method of the vacuum manipulator comprises the following steps: establishing a kinematic model between a motor coordinate system and a joint coordinate system of each manipulator; after a motion instruction is received, planning an initial motion path from a starting point to an initial target point for each manipulator indicated by the motion instruction; based on the kinematic model and the initial motion paths planned for the manipulators, control instructions of motors corresponding to the manipulators are generated so as to drive the manipulators to do asynchronous motion; and in the process that the manipulators move to the initial target point according to the initial motion path, dynamic deviation correction operation is executed in real time, and the manipulators are controlled to move to the deviation correction target position from the current position of the initial motion path along the deviation correction motion path so as to complete wafer placement. According to the technical scheme, the transmission efficiency of the mechanical arm is improved, and meanwhile the transmission precision of the mechanical arm is improved.

A robotic surgical system and method including a navigation catheter including a sensor and for endoluminal navigation, a robotic arm having a laparoscopic surgical instrument and a second sensor, and a computing system including a processor and a memory, the memory storing instructions that when executed by the processor cause the processor to detect a position and orientation of the catheter as it is navigated into a luminal network towards a target, register the luminal network to a three-dimensional (3D) model of the luminal network and a pathway plan, display on a user interface a representation of a distal portion of the catheter, determine that the catheter is in proximity to the target, detect a position and orientation of the second sensor; and display on the user interface a representation of the laparoscopic surgical instrument's position and orientation relative to the position and orientation of the catheter.

The invention discloses a joint coordinate system construction method and device based on human body surface grid model reconstruction, equipment and a medium. The method comprises the steps that a human body image of a target area is collected; preprocessing the human body image to obtain a standard image block; reconstructing the standard image block based on the parameterized human body grid model to obtain a human body surface grid model; acquiring joint coordinate system key points based on the human body surface grid model, and executing automatic screening of the joint coordinate system key points; and establishing a local coordinate system by using the screened joint coordinate system key points. Therefore, by introducing a human body surface grid model reconstruction technology, a clear joint coordinate system definition is established, and the left-right symmetry and time sequence continuity of the human body are ensured.

This invention discloses a method, system, device, and medium for avoiding singularities in a robotic arm under different operational requirements. The method includes: determining the transformation matrix between the joint coordinate system and the Cartesian coordinate system based on the kinematic model of the robotic arm; marking all operational areas on the Cartesian motion trajectory of the robotic arm; identifying all singularities from all operational areas based on several motion information associated with several interpolation points in each operational area and the transformation matrix; and assigning corresponding singularity avoidance strategies to all singularities based on a singularity avoidance evaluation parameter library associated with all operational areas. This invention can accelerate the singularity detection speed by automatically adjusting the detection step size, and corrects the trajectory of all singularities within different operational areas by assigning singularity avoidance strategies to different operational areas containing singularities, thereby reducing the damage caused by the singularity of the robotic arm while better completing the task.

The invention discloses a robot inverse kinematics experiment teaching method and device, a storage medium and a program product. The method comprises the following steps that 1, the structure and parameters of a robot are analyzed; 2, drawing a robot model sketch according to the structure and parameters of the robot; step 3, setting a robot joint coordinate system according to the robot model sketch; 4, according to the robot joint coordinate system, robot DH parameters are solved; carrying out DH parameter judgment, and if the DH parameter is correct, carrying out the next step; otherwise, repeating the steps 1 to 4; 5, robot modeling is carried out according to the solved DH parameters; step 6, setting a motion path of an end effector of the robot; 7, discretely generating a motion track in the Matlab; 8, according to an inverse kinematics equation, solving joint parameters corresponding to the discretized motion trail; 9, robot joint parameters are output; robot joint parameters are judged, and if the joint parameters are correct, the next step is carried out; otherwise, repeating the steps 8 to 9; 10, a robot controller is read, and joint parameters are input; step 11, controlling the robot to run on line, judging a running track, and if the running track is the same as a set track, completing the experiment; otherwise, repeating the steps 7 to 11. According to the method, the inverse kinematics solution and verification experiment of robotics can be conveniently carried out.

This invention discloses a pose control method for a joint-biased seven-degree-of-freedom (DOF) robotic arm, comprising: establishing joint coordinate systems for the seven joints of the seven-DOF robotic arm; listing a parameter table based on the transformation relationships between the joint coordinate systems of the seven joints; calculating the forward kinematic transformation matrix of the seven-DOF robotic arm through the transformation relationships between any two coordinate systems of the seven joints; determining the parameters for calculating the coordinates of each reference point for the arm profile angle, and defining the arm profile surface and reference plane according to the target end-effector pose; constructing an extended Jacobian matrix based on the calculation relationship of the arm profile angle, and using a numerical method to solve for each joint angle under a given end-effector pose. The pose control method for a joint-biased seven-DOF robotic arm of this invention has advantages such as constraining the infinite number of solutions of the seven-DOF robotic arm to a finite number of solutions, solving the uncertainty of the kinematic solutions of the biased seven-DOF robotic arm, improving computational accuracy and numerical stability, and enhancing control determinism.

The invention relates to a generalized complex mechanism kinematics resolving method, which comprises the following steps of: 1, establishing a proper coordinate system according to a physical structure of a mechanism, including a whole device reference coordinate system O0, a reference plane coordinate system where a mechanism base is located, four joint coordinate systems O2 to O5, and a tail end coordinate system O6; step 2, mapping the relation between the coordinate systems into a unit model; 3, acquiring external input of each layer of unit model, and assembling the unit models to form a kinematics resolving process; 4, kinematics calculation is conducted, and the tail end position and posture of the mechanism are obtained and serve as output. On the basis of the physical structure of the mechanism, a unitized structure model is formed, and all units are mutually assembled to finally form a complete mechanism kinematics resolving process.

The application discloses a long-term identity recognition method and system for multiple cat individuals. The face three-dimensional point cloud data, cat eye iris data and palm print data of the cat are collected and converted to the same three-dimensional joint coordinate system for alignment of the physical space. Then, three parallel feature extraction networks are used to extract features from the aligned data, and after splicing and dimension reduction, preliminary fusion features are obtained. The preliminary fusion features are subjected to attention enhancement and residual connection to obtain a fusion feature vector. The fusion feature vectors of an individual at different periods are saved in a historical feature sequence in chronological order to construct a multi-individual feature library. The most similar individual to the individual to be identified is found in the feature library as a candidate cat through cosine similarity comparison. The time sequence evolution features of the candidate cat are predicted, the similarity between the time sequence evolution features, the historical features and the individual to be identified is judged to determine the identity of the individual to be identified, and the feature library is updated.