244 results about "Joint rotation" patented technology

The invention provides a flywheel unloading method based on an electric pushing mechanical arm in a position protection period. The flywheel unloading method comprises the steps that a joint corner combination is selected when the thrust direction is in a position protection allowable range; the control torque under the joint rotation angle combination of each mechanical arm is determined, and an initial table look-up matrix is established; determining an optimal torque and a torque error allowable range; according to the control torque, the optimal torque and the torque error allowable range, grade division is conducted on the joint corner combination; constructing a cost function according to the optimal torque and the control torque; on the basis of grade division, the smaller the cost function is, the higher the priority of the joint corner combination is; selecting a joint corner combination with the highest priority from the initial look-up table matrix, performing permutation and combination of joint corners around the joint corner combination in a fine step length manner, determining a corresponding control moment, forming a second-order look-up table matrix, and selecting a joint corner combination with the highest priority; and circularly selecting the joint corner combination with the highest priority to obtain a final joint corner combination.

The invention provides a humanoid robot welding pose adjusting method and system, and belongs to the technical field of artificial intelligence. The humanoid robot welding pose adjusting method comprises the steps that an initial state vector is constructed according to state information of a humanoid robot in the welding process; performing time sequence feature compression processing on the initial state vector to obtain a compressed state vector; inputting the compression state vector into a strategy optimization model to obtain an optimization action strategy output by the strategy optimization model; wherein the strategy optimization model is obtained by training according to a state information sample; according to the optimized action strategy, discretized joint rotation angle values of all joints of the humanoid robot are generated; and according to the discretized joint rotation angle values, the welding pose of the humanoid robot is adjusted. According to the method, a strategy optimization model based on an optimized long-short-term memory network and a multi-head attention mechanism is introduced, and self-adaptive adjustment and accurate control of the humanoid robot on the welding pose in the dynamic welding environment are achieved.

The invention discloses a folding unlocking mechanism and a stroller frame, the folding unlocking mechanism comprises a frame joint and a seat frame joint, the seat frame joint is detachably connected to the frame joint, a linkage extrusion block is arranged on a rotating part of the seat frame joint, and the linkage extrusion block is provided with an extrusion slope; the rotating part and the fixed part of the frame joint are rotationally matched, through holes for locking are formed in the positions, far away from the center, of the rotating part and the fixed part, in the locking state, locking pin shafts extend into the through holes for locking, one ends of the locking pin shafts are fixedly connected with stirring pieces, and the matching relation between the extrusion slopes and the stirring pieces is that in the process of the rotating part of the seat frame joint, the extrusion slopes are extruded. And the extrusion inclined surface extrudes the shifting sheet outwards to force the locking pin shaft to be separated from the through hole for locking so as to finish the unlocking of the frame joint.

Disclosed are a uterine manipulator, a uterine manipulator robot including the same, and a uterine manipulator system. The uterine manipulator includes an operation module including an end tip, and an operation structure including an end member provided with the operation module at a front end thereof, and a pitch operation part allowing a pitch operation of rotating the end member about a first axis such that a pitch in a direction which the end tip faces is adjusted, and the pitch operation part includes a first joint disposed to be rotatable while an upward / downward direction is taken as a rotation axis thereof, a second joint disposed on a front side of the first joint, and disposed to be rotatable while the upward / downward direction is taken as a rotation axis thereof, a first connection part that rotates the second joint by transmitting a rotational force of the first joint to the second joint when the first joint is rotated, a third joint disposed on a front side of the second joint, provided with the end member at a front end thereof, and disposed to be rotatable while a leftward / rightward direction is taken as a rotation axis thereof, and a second connection part that rotates the third joint by transmitting a rotational force of the second joint to the third joint when the second joint is rotated.

The invention discloses a rope tension control method and device in a dual-motor antagonism mode, and the method comprises the steps: carrying out the rope drive control of a joint motion model based on a current motor rotation angle position, and generating a current drive control result; if the current driving control result represents that the actually-measured rope tension is not equal to the rope pre-tightening force, interpolation is conducted on the rope length variable quantity through admittance control; if the obtained sensing joint torque is not equal to the target joint torque, interpolation is conducted on the joint corner position through admittance control; and updating the actually measured motor rotation angle position based on the expected joint rotation angle position generated by interpolation, the actually measured joint rotation angle position and the rope length variation generated by interpolation, and outputting the motor rotation angle position of rope driving control at the next moment. In this way, control over rope tension and control over joint torque are introduced into three-ring control of the scheme according to admittance control; under the condition of not depending on the accuracy of a joint motion model, the output accuracy of the joint corner position can be improved.

The invention relates to a joint rotation combined collaborative robot real-time modal analysis method, which comprises the following steps of: 1, splitting a robot into a plurality of independent modules, and enabling each module to be equivalent to a super unit; step 2, obtaining a flexibility matrix Ci and a mass matrix Mi of each super-unit under an output coordinate system of the super-unit, and calculating and converting the Ci to obtain a flexibility matrix CJi of the super-unit under the output coordinate system when the super-unit rotates; 3, the flexibility matrix CJi and the mass matrix Mi obtained in the step 2 are converted to a robot end coordinate system, a robot whole machine flexibility matrix nC and a whole machine mass matrix nM are obtained, and the whole machine rigidity matrix nK is obtained by conducting inversion on nC; and 4, establishing an undamped free vibration equation of the robot, and substituting the complete machine flexibility matrix nC and the complete machine mass matrix nM obtained in the step 3 into the equation so as to solve the inherent frequency of the collaborative robot in real time. According to the method, the rigidity change condition during rotation of the joint module is considered, and the calculation amount is greatly simplified while the calculation error is reduced.

The utility model provides a robot wire passing joint, and belongs to the technical field of robots. The problem of how to prolong the service life of the cable is solved. According to the robot wire passing joint, a robot comprises a cable, a four-axis joint and a three-axis joint internally provided with a speed reducer, the wire passing joint is located between the three-axis joint and the four-axis joint, and a connecting body is arranged between the three-axis joint and the wire passing joint; the connecting body comprises a connecting part connected and positioned with the driving end of the speed reducer, a driving part used for driving the four-axis joint to rotate and a single-turning part formed between the connecting part and the driving part, the single-turning part is in a long strip shape, a cable passing cavity is formed in the three-axis joint and located on one side of the speed reducer, and a cable penetrates through the cable passing cavity and the driving part and extends into the four-axis joint; one end of the cable is positioned in the cable passing cavity, and the other end of the cable is positioned in the center of the junction of the cable passing joint and the four-axis joint. The robot wire passing joint can prolong the service life of the cable.

An electromagnetically shiftable positive engagement clutch is shown, having a shifting sleeve which is arranged on a shaft for joint rotation therewith and is linearly displaceable along the shaft between a clutch engagement position and a clutch disengagement position, a clutch body which is aligned coaxially with the shaft, and a stator having at least one energizable drive coil for adjustment of the shifting sleeve along the shaft, wherein in the clutch engagement position there is a positive engagement between the shifting sleeve and the clutch body and thus a rotary connection between the shaft and the clutch body. Moreover, the positive engagement clutch has a stationary sensor device which is arranged adjacent to the shifting sleeve and includes at least one Hall sensor and at least two magnets that magnetically enclose the at least one Hall sensor and are permanently stationary relative to the at least one Hall sensor, with the magnets pointing toward the shifting sleeve and having opposite polarities relative to each other. The sensor device is adjacent to the shifting sleeve in a radial direction so as to be spaced apart therefrom by a radial gap, so that an axial movement of the shifting sleeve is detected by the Hall sensor through a reduction in the radial gap.

The invention provides a modeling method and system for solving the problem of rope flexible deformation vibration of a rope-driven mechanical arm. The method comprises the steps that the mapping relation between a rope and a joint angle is established; rope deformation elastic potential energy is established according to the rope take-up and pay-off variable quantity driven by a motor-driven winch and the current joint rope mapping length; kinetic energy and potential energy of joint rotation and arm lever movement of a motor-driven rope transmission mechanical arm are defined, and a Lagrange function is constructed; according to the second type of Lagrange equation, a rope-driven mechanical arm system kinetic equation of the mapping relation between the rope variation control input and the mechanical arm joint angle is deduced; optimizing the model, proving the stability, and verifying the effectiveness and reliability of the algorithm. The technical problems of mechanical arm reliability servo defects, low set expected track tracking precision and high-frequency vibration caused by nonlinear characteristics such as flexible vibration, friction, rope deformation and hysteresis existing in a circuit, rope flexibility and a mechanical arm system are solved.

A robot middle joint for tendon movement control comprises a first joint support structure, a second joint support structure and a middle joint rotating supporting shaft, and the top of the second joint support structure is rotationally connected with the bottom of the first joint support structure through the middle joint rotating supporting shaft. One end of the joint rotation supporting shaft is fixedly installed on the top of the second joint support structure, at least one idle wheel wire coil is rotatably installed on the middle joint rotation supporting shaft, and a middle joint output wire coil is further fixedly installed on the middle joint rotation supporting shaft. The middle joint output wire coil is fixedly connected with the top of the second joint support structure, and the second joint support structure is fixedly supported at the other end of the middle joint rotating supporting shaft through the middle joint output wire coil. The utility model discloses simple structure, it is convenient to install, dismantle and follow-up maintenance, and each idle wheel wire coil and output wire coil do not interfere with each other, can realize steady operation.

A rotor cooling arrangement is provided for an electric machine used in the powertrain of a work vehicle. The electric machine has a housing containing a stator, which is fixed in position around a rotational axis within the housing. The rotor cooling arrangement includes a rotor positioned around the rotational axis within the housing. The rotor has a series of rotor disks with pockets in which magnets are arranged. The rotor disks are separated from each other along the rotational axis by a dielectric. A rotor shaft extends along the rotational axis and is coupled to the rotor disks for common rotation with the stator around the rotational axis. The rotor shaft partially defines a cooling circuit through which a coolant flows to cool the rotor.The cooling circuit comprises an inlet passage in the rotor shaft, which connects to a cooling passage in the form of an open groove in an outer surface of the rotor shaft. This cooling passage is connected to an outlet opening spaced along the axis of rotation from the rotor. The rotor closes the open groove, so that the cooling circuit is a closed loop in which coolant circulates through the rotor shaft from the inlet passage to the cooling passage and then to the outlet opening.

The invention discloses a double-arm wheel type humanoid intelligent robot with a body, and relates to the technical field of intelligent robots, the double-arm wheel type humanoid intelligent robot comprises a movable chassis, a robot body and a folding lifting mechanism, the fixed end of the folding lifting mechanism is arranged at the top of the movable chassis, and the robot body is arranged at the movable end of the folding lifting mechanism; the folding lifting mechanism comprises a first folding part, a second folding part... an Nth folding part which are hinged through a joint rotation driving mechanism, N is an integer larger than or equal to 2, the first folding part is hinged to the movable chassis, and the Nth folding part is hinged to the robot body. The folding lifting mechanism is adopted, the lifting distance of the folding lifting mechanism is the sum of the lengths of N folding parts, and when the folding lifting mechanism is in a folding recovery state, the height of the folding lifting mechanism is only the width of a single folding part, so that the height of the robot in an initial state or a retraction state is greatly reduced; and the purpose of reducing the accommodating space is achieved.

The invention belongs to the technical field of robots, and provides a hip joint exoskeleton and a walking assistance control method.The hip joint exoskeleton comprises three active driving units, and a hip joint exoskeleton sagittal plane driving unit is used for achieving forward flexion / backward extension of a human hip joint; the hip joint exoskeleton coronal plane driving unit is used for realizing human hip joint adduction / abduction; the hip joint exoskeleton horizontal plane driving unit is used for realizing inward rotation / outward rotation of the hip joint of the human body; the hip joint exoskeleton sagittal plane driving unit, the hip joint exoskeleton coronal plane driving unit and the hip joint exoskeleton horizontal plane driving unit are connected through the remote rotating center mechanism, so that a rotating plane corresponding to the horizontal plane driving unit is aligned with a hip joint rotating center through a virtual axis. The hip joint exoskeleton is compact in structure and saves space. According to the control method, when the user wears the exoskeleton to walk, the exoskeleton can accurately assist the walking of the user without time delay.

The invention discloses a high-bearing-capacity spherical gimbal seat, and belongs to the technical field of gimbal seats, the high-bearing-capacity spherical gimbal seat comprises a first flange assembly, a second flange assembly, a ball assembly, a first connecting assembly and a second connecting assembly, the first flange assembly comprises a first flange main body, and a plurality of first through holes are formed in the first flange main body; the device is easy to assemble and high in assembly precision; when an engine needs to swing, the first flange body rotates with the axis of the first pin shafts as the axis, the ball rotates in the constraint direction of the two pairs of first pin shafts and the two pairs of second pin shafts, and therefore the gimbal seat can independently rotate or jointly rotate in the two directions, and bidirectional swing is achieved. In the working process of an engine, thrust is borne and transmitted by the spherical surface, and the two first pin shafts and the two second pin shafts do not bear the thrust, so that the gimbal seat is not prone to bearing large bending moment in the using process, and the normal service life of the gimbal seat is guaranteed.

The utility model discloses a joint turning device for an anastomat, which relates to the technical field of electric anastomats and comprises an anastomat jaw, a rotating part, a sleeve, a fixing rod and a slider, and the rotating part is fixedly connected to one end of the anastomat jaw; the rotating piece is rotationally mounted at one end, extending out of the sleeve, of the mounting block; the fixing rod is provided with a first position for fixing the rotating part and a second position separated from the rotating part; the sliding block is installed on the installation block in a sliding mode, a control rod penetrates through the installation block, one end of the control rod is connected with the installation block, and the sliding block is used for driving the fixing rod to be switched between the first position and the second position. The bending angle is large while the operation hand feeling is good, so that a doctor has a better operation space, and the bending angle-adjustable endoscope can be suitable for medical treatment under more complex clinical conditions.

The invention relates to the technical field of legged robots, and aims to provide a joint coupling driven humanoid robot leg structure and a control method thereof. The whole mechanism has three degrees of freedom which are respectively the flexion and extension movement of the hip joint, the knee joint and the ankle joint, and the hip joint, the knee joint and the ankle joint can flexibly rotate and can reach the human body joint rotation angle range, so that the actions such as jumping can be realized. The invention provides the innovative design of the coupling joint, and has the advantages of enhancing the motion coordination, reducing the control complexity and reducing the energy consumption; on the basis of ensuring sufficient motor torque and proper volume, the appearance and the movement are in line with human body characteristics, and the biological performance advantages of a human body are fully exerted; the structural design is small and exquisite, a joint driving motor moves upwards, and overall light weight is achieved; a control strategy based on power limitation is provided, the Jacobian matrix is utilized to optimize the motor output torque, the system power consumption is further reduced, and the method has a wide social application scene.

The invention discloses a mechanical arm tool and tunnel hidden disease diagnosis equipment, and relates to the technical field of tunnel structure disease diagnos.The mechanical arm tool comprises a fixing base, a multi-degree-of-freedom mechanical arm and a detection device. The multi-degree-of-freedom mechanical arm comprises a sliding seat, a rotary telescopic large arm, a rotary joint, a rotary small arm and a telescopic small arm, so that the mechanical arm tool realizes flexible movement of the detection device relative to the fixed seat through the multi-degree-of-freedom mechanical arm, and the mechanical arm can bypass a contact network to inspect the wall surface of a tunnel; the flexibility and adaptability of the mechanical arm tool are remarkably improved, the mechanical arm tool can cope with most complex environments, too much intervention of engineers is not needed, and the detection convenience and efficiency are greatly improved.

A method and a device twist single cables about a twisting axis. The single cables each run along a cable axis and have wires, which are twisted in a strand twisting direction to form a strand, and also each have a first cable end and a second cable end. The first cable ends are held separately by a single rotating unit in each case. The second cable ends are held by a twisting unit. The second cable ends are rotated jointly about the twisting axis counter to the strand twisting direction to produce a twisted cable bundle. During the joint rotation, the first cable ends are rotated separately about a cable axis of the respective single cable, in the same rotation direction as the joint rotation. The single cables are each relieved of torsion thereby.

A robot includes: a robot mechanism section having a plurality of joints and a plurality of drive sections (11-16); a control section (22) that causes the robot mechanism section to perform a prescribed checking operation for checking an arbitrary target drive section (14) among the drive sections (11-16) by controlling the drive sections (11-16); and a notification section (24) that notifies of maintenance information of the target drive section (14) based on a current value of a motor (14a) of the target drive section (14) or information related to the current value in the prescribed checking operation; the prescribed checking operation includes: an operation of approaching and pushing an object at a prescribed position from a prescribed start position by the front end of the robot mechanism section or a tool of the front end; and an operation of separating the front end of the robot mechanism section or the tool from the object by sending a control command for rotating the joint by a prescribed rotation angle to the motor (14a) of the target drive section (14).

The application relates to the technical field of rectangular pipe construction, in particular to a construction device for rectifying deviation of a rectangular pipe after the pipe is penetrated, which comprises Larsen steel sheet piles, the Larsen steel piles are arranged on opposite sides of a pipe joint, a dewatering well is arranged outside the two steel sheet piles, a steel enclosing purlin is fixedly connected to one side of the Larsen steel sheet pile close to the pipe joint, steel supports are arranged between the steel enclosing purlins on the same horizontal plane, the two ends of the steel support are respectively connected to the steel enclosing purlins located at the two ends of the steel support, a bracket is welded below the steel enclosing purlin, a concrete limiting block is arranged at a lower chamfered corner of the pipe joint, a concrete cushion beam is arranged on the side of the pipe joint away from the concrete limiting block and close to the upper side, a second steel enclosing purlin is arranged between the concrete cushion beam and the pipe joint, a jack is arranged between the second steel enclosing purlin and the concrete cushion beam, and a steel sheet pad is arranged between the jack and the concrete cushion beam, so that the problem of pipe joint rotation correction after the rectangular pipe construction is completed in an underground pipe joint project is solved.

This invention discloses a joint rotation module, including a housing, a harmonic reducer, a driver, and a control unit. The driver includes a stator, a rotor, and a drive shaft. The joint rotation module also includes a liquid cooling circulation unit, which comprises: a circulation loop including a medium flow channel and a liquid pump. The liquid pump is integrated in a cavity and driven by the drive shaft, causing the cooling medium to circulate within the medium flow channel. Part of the medium flow channel is distributed on the housing around the driver. A heat dissipation assembly is disposed on the housing, and the control unit and the medium flow channel are thermally coupled to the heat dissipation assembly. By connecting the liquid pump to the drive shaft, this invention allows the driver to drive the liquid pump while outputting rotation. The liquid pump only needs an impeller to operate, achieving the circulation of the cooling medium within the medium flow channel, thereby cooling the joint rotation module. This significantly reduces the size of the liquid pump, allowing it to be integrated within the joint rotation module.

A robot includes a torso structure, a head structure, robotic arms, gripper structures, and a chassis driving structure. The torso structure includes a lower leg assembly, a thigh assembly, and a thoracic cavity assembly. A first torso motor, a second torso motor, and a third torso motor enable a multi-joint rotation within a plane formed by a first direction and a second direction. A fourth torso motor drives the thoracic cavity assembly to rotate relative to the thigh assembly around an output shaft of the fourth torso motor within a plane formed by the second direction and a third direction. Two opposite sides of the end of the thoracic cavity assembly facing away from the thigh assembly are provided with the robotic arms respectively, and the gripper structures are securely mounted at tail ends of the robotic arms respectively.

This invention relates to a method for solving the inverse kinematics of a robotic arm based on autonomous planning of redundant parameters, comprising: Step 1, the rotation axes of joints 1 to 3 of the robotic arm intersect at point Ps and are designated as the shoulder joint; the rotation center of joint 4 is Pe and is designated as the elbow joint; the rotation axes of joints 5 to 7 intersect at point Pw and are designated as the wrist joint; Step 2, the "shoulder-elbow-wrist" structural parameters are determined as: l bs l se l ew l wt Step 3: Solve for θ in the base coordinate system to find the vector of line PsPw. 1_0 θ 2_0 θ 3_0 θ 4_0 Step 4: Define the angle between the PsPePw plane and the reference plane as the redundancy angle; establish the functional relationship between θ1, θ2, θ3 and θ5, θ6, θ7 and the redundancy angle; Step 5: Solve for the initial inverse joint combination; Step 6: Solve for the optimal redundancy angle; Step 7: Substitute the optimal redundancy angle into the relational expression to finally solve for θ1, θ2, θ3 and θ5, θ6, θ7; Step 8: Use the calculated θ1~θ7 as the desired trajectory. This invention improves the control accuracy of the robotic arm and the operating efficiency of the controller.

The present invention discloses a push-rebound damping hinge, comprising an outer transmission arm, an inner transmission arm, and a rebound damping member. The two ends of the outer transmission arm are respectively connected to the cup head and the arm body. One end of the inner transmission arm is connected to the cup head and the other end is connected to the movable end of the rebound damping member. The fixed end of the rebound damping member is connected to the arm body. The first transmission member is rotatably arranged in the arm body. A protrusion is provided on the first transmission member or the cup head. When the cup head is pressed, it contacts the first transmission member through a boss. The locking structure is connected to the outer transmission arm. The first transmission member is used to unlock the locking structure. When the door body is pressed, the protrusion activates the first transmission member to unlock the locking structure. The rebound damping member drives the outer transmission arm and the inner transmission arm to rotate. Under the action of the joint rotation of the outer transmission arm and the inner transmission arm, the cup head rotates and opens. The structure of the present invention realizes that the hinge has a built-in push-rebound damping function, which is convenient for use with invisible doors or handleless doors.

The application provides a dual industrial robot conversion collaborative control method and device, electronic equipment and storage medium, the method comprises the following steps: based on the programming file written in the first control channel, interpolating the first robot, the second robot and the tool rotation axis in the first control channel; in the first control channel, the joint rotation axis of the first robot, the sliding position of the first base along the slide rail, and the coordinate conversion of the rotating tool are carried out, and the motion control of the joint rotation axis of the first robot is carried out based on the conversion result; in the first control channel, the first base and the second base are controlled to slide along the slide rail, and the rotating tool is controlled to rotate around the tool rotation axis in the first control channel; in the second control channel, the virtual axis indicated by the pose parameter of the second robot included in the programming file and the synchronous action algorithm are used to control the motion of the joint rotation axis of the second robot. The dual industrial robot conversion collaborative control method can realize the collaborative control of the dual robot and the rotating tool.

The application relates to the field of mechanical hands, in particular to a bionic upper limb and a load-carrying robot for heavy-load working conditions. The application comprises a plurality of base bodies which are rotationally connected through joints between adjacent base bodies; a plurality of power sources are fixed on the base bodies, and any power source is transmissionally connected with the joint through a flexible mechanism, and is used for driving the base body to move in space relative to the adjacent base body. In the application, the power source is rear-mounted in the base body, and the flexible mechanism is used for long-distance power transmission, so that the driving elements such as motors with large mass are far away from the rotation center of the joint, the rotational inertia of the moving limb is effectively reduced, and the acceleration / deceleration response performance and the load self-weight ratio of the upper limb are obviously improved.

The invention discloses a hip joint replacement operation leg supporting instrument which is placed on an operating bed during use and sequentially comprises a leg fixing support, an upper universal joint, a telescopic supporting rod, a lower universal joint and a support structure from top to bottom. The leg fixing support is used for at least supporting the thigh part, close to the knee joint, of the affected side leg; the telescopic supporting rod telescopically moves and is used for completing inward folding and outward unfolding actions, and the support structure forms a containing space for containing lower legs and is arranged on a bed body when used; the upper universal joint independently rotates to complete the actions of internal rotation and external rotation; and the lower universal joint and the upper universal joint are matched to rotate so as to complete buckling and stretching actions. The two universal joints are matched with one telescopic supporting rod to complete the actions of buckling and stretching, adduction and abduction, and internal rotation and external rotation; and when the telescopic supporting rod is in the locking state, the supporting effect is achieved, and when the two universal joints rotate independently or rotate together, an operator only needs to easily control the joints to rotate.

The invention relates to a method and a device (400) for stranding single cables (11, 12) about a stranding axis (V). The single cables (11, 12) extend along cable axes (v1, v2) and have wires (11a, 12a) stranded in a strand stranding direction (S, Z) to form strands, each single cable (11, 12) further having a first cable end (15, 16) and a second cable end (17, 18). In each case, the first cable end (15, 16) is held by a single wire rotating unit (41, 42), respectively. The second cable end (17, 18) is held by a stranding unit (30). The second cable ends (17, 18) are jointly rotated about the stranding axis (V) counter to the strand stranding direction (S, Z) to form a stranded cable bundle (10). During the joint rotation, the first cable ends (15, 16) are individually rotated about the cable axes (v1, v2) of the respective single cable (11, 12) in the same direction of rotation as the joint rotation. Thereby, the torsion of each single cable is eased.

According to the embodiment of the invention, the invention provides a method and device for attitude determination, equipment, a storage medium and a program product. The method includes determining an initial pose of an actuator based on joint rotation data representing a current pose of an object, the joint rotation data indicating rotation of a plurality of object joints of the object, the actuator including a plurality of actuator joints to simulate an action of the object; updating the initial attitude to an intermediate attitude of the actuator based on the position of at least one end portion of the object; based on the position of the at least one tail end part, the contact state of the object is determined, and the contact state indicates whether the object in the current posture has mutual contact parts or not; and determining a target attitude of the actuator based on the contact state and the intermediate attitude.

The invention relates to the technical field of mechanical arm path planning, in particular to an unmanned aerial vehicle mechanical arm grabbing pose planning method and system. When an unmanned aerial vehicle mechanical arm grabs an object, position parameters (including three-dimensional coordinates) and joint rotation angle time sequence data within a preset time period of each time node are obtained; due to strong wind interference and deviation of posture and motion fluctuation of the mechanical arm, joint rotation angle change, random fluctuation characteristics and non-smooth fluctuation and numerical value change of position parameter time sequence data are analyzed, the strong wind interference abnormity degree and deviation degree are obtained, the interference degree is quantified, and the actual motion state is grasped; adjusting and fitting the three-dimensional coordinate value of each time node according to the two to obtain a future extension trajectory, which can respond to strong wind changes, reduce trajectory errors and provide an accurate basis for path planning; finally, a path is planned based on the extension trajectory data point space position relation, strong wind influence is fully considered, the planned path is more accurate and reasonable, and the mechanical arm can be guided to optimally reach the target.