474 results about "Kinematic controller" patented technology

The invention relates to the safe auxiliary driving and intelligent control filed and discloses an automatic control system and a method for preventing side-slipping and side-turnover in a curve road. A vehicle-mounted automatic control system is adopted to control an intelligent vehicle. At first, information about curve road curvature is obtained; secondly, the information about curve road curvature is converted into digital signals and input into a vehicle-mounted micro-processor, curve road critical safe driving speed is calculated by a safe driving speed calculation module and current driving speed is measured by a vehicle-mounted sensor; then the current driving speed and the critical safe driving speed are judged by a safe condition judging module; and finally a system automatic control module is used to control the intelligent vehicle to pass through the curve road smoothly. The automatic control system and the method for preventing side-slipping and side-turnover in the curve road overcome the shortcoming that trajectory tracking is achieved by only using a vehicle kinematics controller, a designed vehicle dynamics controller guarantees straightaway automatic deceleration and practicability and instantaneity of maintenance in the curve road, and calculation accuracy of safe driving speed is improved. By means of dynamics control principles including equivalent control and switching control, the system chattering phenomenon can be restrained effectively and influence of external disturbances can be overcome.

The invention relates to a single-wheel robot system and a control method thereof, belonging to the field of intelligent robot, in particular to a static unbalanced robot which can autonomically control movement balance further to autonomically ride a monocycle and a movement balance control method thereof. The single-wheel robot comprises a robot body and a balance detection and control system and is characterized in that the lower part of the robot body is provided with a single wheel which can rotate front and back, and the middle of the robot is provided with an inertial flywheel which can rotate left and right and is horizontally placed; the balance detection and control system comprises a movement controller, a posture detector and a servo drive controller, wherein the posture detector and the servo drive controller are connected with the movement controller; and the movement controller 10 receives a signal of a posture sensor and processes the received signal according to a control procedure so as to send a control order to control a motor through the servo drive controller to regulate the posture balance of the single-wheel robot. The invention provides a control platform which not only belongs to robotics but also belongs to the field of control science and intelligent control, thereby meeting the needs of multi-subject scientific research and teaching.

The invention provides a trajectory tracking method for a four-wheel-driven wheeled mobile robot. The method comprises the steps of firstly establishing a kinematic model, a dynamic model and a driving motor model of a system; then designing a kinematic controller for adjusting speed of the system according to a given reference trajectory based on the kinematic model; operating the kinematic controller for obtaining the anticipated torque of a motor according to the speed of a to-be-adjusted system based on the kinematic model; designing a driving motor controller for designing an appropriate driving voltage of the system for satisfying the anticipated torque of the motor based on the driving motor model; and finally performing trajectory tracking control on the four-wheel-driven wheeled mobile robot according to a backstepping robustness trajectory tracking control method. The trajectory tracking method according to the invention realizes a purpose of improving stability of a four-wheel-driven wheeled mobile robot control system in a complicated uncertain environment and furthermore improves system controlling effectiveness on the condition with uncertain factors.

A remote-operated working device includes a movement controller that controls movement of the remote-operated working device; a working unit that performs a predetermined work on the work target; a first detector that detects contact between the working unit and the target; and a communicator that transmits a signal for vibrating the remote control to the remote control in a case where contact between the working unit and the work target is detected by the first detector.

The invention belongs to the safe auxiliary driving and intelligent control filed and discloses a tracking and controlling method for lane changing trajectories in a crooked road. At first, planning the lane changing trajectories; secondly, using a vehicle pose expected by planned lane changing trajectories as a referential state of a kinematics controller; then using control input of the kinematics controller as a referential state of a dynamics controller; and finally analyzing stability of a dual closed-loop structure control system composed of the kinematics controller and the dynamics controller. The tracking and controlling method for the lane changing trajectories in the crooked road overcomes the shortcoming that trajectory tracking is achieved by only using the vehicle kinematics controller, the dynamics controller is designed and practical research value is improved. Accuracy of the planning of the lane changing trajectories is improved from the perspectives such as an influence, on the lane changing trajectories, of a vehicle longitudinal velocity change and the difference of curvature between an inner side lane and an outer side lane. By means of a controller based on a dual closed-loop structure, overall accordance and bounded convergence of tracking errors can be guaranteed, and convergence speed of the tracking errors and strong robustness of the uncertainty of a time-varying parameter are improved.

The invention relates to a multi-axial movement controller and its operation based on MPC5200.The movement controller comprises the outside SDRAM, outside FLASH, ERPROM and MPC5200 micro controller connected movement controller critical module, providing the basic environment for software running of the movement controller, going through serial communication interface configuration and top position specific serial communication protocol, connecting it with the top position machine through CAN, RS232, or USB interface for digital controlled data processing and instruction transmission, separating the controller with the top position machine, easy for distributional high performance control, through signal feedback channel and interface to make rectification, counting of the feedback signal of the motor coder, inputting to the MPC5200 micro controller for computation and sending out the result to the pulse driven motor driver through the PWM output interface.

The invention relates to a high sound-surround ambiance intelligent sensing interactive motion system and an implementation method thereof; the system consists of a motion platform subsystem, a virtual reality subsystem, and a projection display subsystem; the motion platform subsystem consists of a parallel connection motion platform with N degrees of freedom, a servo motor driver, a motion controller, and a sensor; and the virtual reality subsystem consists of a motion control terminal computer, a network server computer, and a scene-rendering end computer. The projection display subsystem consists of an edge fusion device, a projector, audio equipment, and a dome screen. The invention has the beneficial effects that an immersive virtual reality environment is provided for the motion platform; simultaneously, the virtual reality environment feeds back the control information to the motion platform for realizing the interaction of the motion and the environment, the sound-surround ambiance is enhanced, and the participants is led to have high sense of immersion, thus improving the fitness fun and achieving the effect of keeping healthy.

The invention relates to a high-speed processing-oriented surface quality preferred spline real-time interpolation method, which comprises the following steps of: preprocessing a processing path in an interpreter of a numerical control system to obtain a processing speed curve; inputting the obtained processing speed curve into a motion controller of the numerical control system to perform real-time interpolation; and transmitting coordinate information obtained by the real-time interpolation to a servo device to drive a motor to run. According to a surface quality preferred spline real-time interpolation algorithm provided by the invention, continuous transition of uniaxial acceleration is realized through limitation of uniaxial acceleration and smooth transition of speed curve, so that a smooth processing speed curve is obtained, and automatic adjustment of a speed planning algorithm of different processing intervals is realized.

A manually propelled vehicle having an assist function that assists walking of a user includes a vehicle body, a wheel for moving the vehicle body, sensor that detects an operating force, power driver that supplies power to the wheel based on the operating force, a motion sensor that detects a movement of the vehicle body according to the operating force detected by the sensor; and controller that controls the power driver, wherein, when the user operates the manually propelled vehicle while the assist function is deactivated, the controller activates the assist function based on the movement of the vehicle body detected by the motion sensor.

The invention discloses a control system and method of DELTA robots based on visual tracking. Servo drivers and a motion controller in the system are connected through a series bus, the method achieves leak repairing distribution, odd and even distribution and classification distribution by utilizing the servo drivers in series connection, and motion tracks of robots are further optimized. The control system achieves cooperative control over the double DELTA robots, the universality of the system is improved, and the system is easy to set and convenient to debug. The method achieves various cooperative control modes based on the double DELTA robots, and is suitable for different working environments, high in universality and low in miss rate. Meanwhile, the speed and the accuracy that the robots sort target objects are further improved through optimization of the motion tracks, and working efficiency of the robots is improved. The control system and method of the DELTA robots based on visual tracking can be widely applied to the field of industrial robots.

The invention discloses a trajectory tracking control method of an underwater inspection robot. The method comprises the following steps: (1) presetting a reference trajectory for trajectory trackingof the underwater inspection robot, obtaining an optimal path from a starting point to a target point by using a navigation path planning algorithm according to the reference trajectory, and taking the optimal path as a preset reference trajectory of trajectory tracking of the robot; (2) designing a trajectory tracking kinematic controller in combination with the reference trajectory and a kinematic model; (3) carrying out stress analysis on the underwater inspection robot, establishing a dynamic model, and designing a trajectory tracking dynamic controller; and (4) taking a control value of the kinematic controller as input of the dynamic controller to obtain a thrust and a torque required by trajectory tracking, and realizing smooth and stable trajectory tracking control of the underwater inspection robot. By designing a dynamic target function, a problem of speed jump is solved, a lag between an actual trajectory and the reference trajectory is reduced, the shortest tracking step length optimization function item is added into the target function, the path length of the actual trajectory is reduced, and then trajectory tracking energy consumption is decreased; in addition, the influence of the actual underwater environment on trajectory tracking is also considered, and finally smooth and stable trajectory tracking control is realized.

The invention discloses a grain harvesting and transporting integrated loading device and method based on image recognition, and relates to the technical fields of depth vision, image recognition, agricultural harvesting and internet of vehicle (IOV). Farm implements and agriculture are improved by a stereoscopic vision technology, the automation and agricultural informatization level of a harvester and a grain unloading vehicle is enhanced, and grain or equipment waste caused by human misoperation is avoided while the harvesting efficiency is improved. A self-adaptive operation manner of an existing combine harvester and a following skip car is effectively improved, a skip car human driver (driving robot) can be guided to make more accurately and effectively operation response for the current working condition, and advantageous improvement is made to avoid leakage waste, filling insufficiency and low efficiency in the operation process; and environmental information or decision instructions can be directly imported into a vehicle movement controller to realize transverse or longitudinal control on unmanned farming machinery so as to realize unmanned agricultural operation in the whole process.

The invention discloses a real-time self-adaptive contour error estimation method, which can be used for a numerical control system or a contour controller of a robot. The contour error estimation method comprises the steps: generating extra interpolation points by properly modifying a conventional parameter curve interpolation method, wherein the generated extra interpolation points are only used for contour error estimation and do not serve as reference instructions of a motion controller; searching among original interpolation points the nearest point from an actual cutter position, preliminarily determining a search scope; and further determining foot points through a binary search method. A distance between the foot points and an actual cutter point is an estimated contour error. Compared with conventional estimation methods, the real-time self-adaptive contour error estimation method is more accurate in estimation precision. In particular, the method can still have a great effect and exhibit excellent algorithm robustness when the estimation effects of the conventional methods suddenly become bad in a condition with high speed movement and high curvature of a curve. Moreover, the method needs moderate computational complexity, fully meets the requirement of real-time applications, and is highly practical.

The invention discloses a vision-based pose stabilization control method of a moving trolley, which fully considers about a kinematics model and a dynamics model of a trolley and a camera model. The vision-based pose stabilization control method comprises the following steps of: respectively obtaining an initial image and an expected image at a starting pose position and an expected pose position through a camera, and obtaining an existing image in a movement process in real time; by utilizing an antipode geometric relation and a trilinear restrain relation among shot images, designing three independent ordered kinematics controllers based on Epipolar geometry and 1D trifocal tensor by utilizing a three-step conversion control policy; finally designing a dynamic conversion control rule by taking outputs of the kinematics controllers as the inputs of the kinematics controllers by utilizing an retrieval method so that the trolley quickly and stably reaches an expected pose along a shortest path. The invention solves problems in the traditional vision servo method that the dynamics characteristic of the trolley is not considered during pose stability control and slow servo speed is slow, and the vision-based pose stabilization control method is practical and can enable the trolley to quickly and stably reach the expected pose.

The invention provides a moving measurement apparatus based on a linear module. The apparatus provided in the invention comprises two major parts: a moving measurement rack and a control system. A substrate of the moving measurement rack is connected with a linear guide rail; a decelerator is connected with a servo motor; the servo motor is connected with the linear guide rail and with servo drivers of the control system; a tow chain of crawler type is fixed on a frame; a support component is constructed by the substrate and the linear module; a raster ruler and a limit switch are connected with a signal interface board of the control system. Besides, monitoring equipment is fixed on a support; an air switch of the control system is connected with breakers; the breakers are connected with contactors; the contactors are connected with filters; relays and a motion controller are connected with a computer through an Ethernet and connected with a manual controller through an RS232 interface; and simultaneously, the relays and the motion controller are connected with servo drivers, the raster ruler and the limit switch through I/O interfaces. The moving measurement apparatus based on a linear module provided in the invention can be used for automatic and accurate positioning of monitoring equipment of a wind tunnel test room or a special trial site.

The invention relates to a plate producing and winding control system which is used for a full-automatic winding machine. The plate producing and winding control system comprises a plate producing sub-control system, and a cell winding sub-control system, wherein the plate producing sub-control system comprises a plate producing programmable controller and a plate producing human-machine interface connected with the plate producing programmable controller, and is used for controlling the related processes of plate unwinding, tab feeding and welding, plate adhering, and plate traction; the cell winding sub-control system comprises a winding programmable controller, a winding human-machine interface connected with the winding programmable controller, and a winding motion controller connected with the winding programmable controller, and is used for controlling the related processes of positive and negative plate cache feeding and offset correction, diaphragm placing and tape replacing, cell winding, cell adhering and cell picking, wherein the winding programmable controller is respectively communicated with a positive plate producing programmable controller and a negative plate producing programmable controller through an IO (input/output) interface. The plate producing and winding control system provided by the invention can complete cell plate producing and cell winding processes continuously, can quickly manufacture single qualified cells from plate rolls and diaphragm rolls, and can alleviate labor force, shorten time, improve production efficiency and save production cost.

A multi-arm robot used for tunnel lining inspection and defect diagnosis in an operation period, including a moving platform, where an environment detection device and a defect infection device are disposed on the moving platform, the defect infection device is disposed on the moving platform by using a multi-degree-of-freedom mechanical arm, and an attitude detection module is disposed on each multi-degree-of-freedom mechanical arm; a controller receives environmental data and mechanical arm attitude data sensed by the environment detection device and the attitude detection module, and sends a control instruction to the moving platform and the multi-degree-of-freedom mechanical arm according to the environmental data, to implement movement of the robot; and the controller receives tunnel lining structural data sensed by the defect infection device, and performs defect diagnosis. Overall automatic inspection can be implemented both on the surface and inside of the tunnel lining.

The invention discloses a multi-arm robot for detection and disease screening of a tunnel lining in an operational period. The multi-arm robot comprises a moving platform, and an environment detectiondevice and a disease detection device are arranged on the moving platform, wherein the disease screening device is arranged on the moving platform through multi-degree-of-freedom mechanical arms, andeach multi-degree-of-freedom mechanical arm is provided with an attitude detection module; a controller receives environment data and mechanical arm attitude data sensed by the environment detectiondevice and the attitude detection module and sends a control instruction to the moving platform and the multi-degree-of-freedom mechanical arms according to the environment data to achieve movement ofthe robot; and the controller receives structural data, sensed by the disease detection device, of the tunnel lining to conduct disease screening. According to the multi-arm robot, the surface and the interior of the tunnel lining can be comprehensively and automatically detected.

The invention provides an automatic slitter positioning system of a high-speed intelligent dividing and cutting machine. The automatic slitter positioning system comprises a closed-loop control system consisting of a motion controller, a servo motor, a magnetostrictive position sensor, a touch screen and a servo driver, wherein the magnetostrictive position sensor is connected with a field bus interface of the motion controller, the touch screen and the motion controller communicate with each other in a way of Ethernet connection, the motion controller is connected with the servo driver through an internal bus interface based on an Ethernet technology, and the servo driver is connected with the servo motor by a power cable and a signal cable. The automatic slitter positioning system of the high-speed intelligent dividing and cutting machine simplifies tedious slitter positioning to button one-click operation, thus improving the production efficiency and slitter positioning precision, reducing unnecessary repeated slitter positioning, and greatly reducing the dependence on people in toolsetting.

The invention discloses a high-speed unreeling device for thin film intermittent feed and a control method, belongs to the technical field of automation, and relates to facial tissue pillow type packaging equipment and an electrical control method for thin film coil fast following during thin film quantitative feed. The system comprises a detection unit, a control unit and an executing mechanism,wherein the detection unit comprises a thin film accelerated compensation proximity switch, a thin film compensation stop proximity switch, a thin film decelerated compensation proximity switch, a thin film feed proximity switch and a thin film stop photoelectric switch which are connected with an input end of a servo motion controller; the control unit comprises a touch screen, a servo motion controller, a thin film feed servo driver and a thin film unreeling servo driver; the touch screen and the servo motion controller are electrically connected through a communication bus; the executing mechanism mainly comprises a thin film unreeling servo motor, a thin film feed servo motor, a thin film buffer roller set and a thin film traction roller; the thin film buffer roller set moves up and down through a linear guide rail; and the mechanisms are arranged on a wall board. The device and the control method thereof can guarantee high-speed synchronization of thin film unreeling and thin film feed and prevent the surface of a thin film coil from being damaged and creased.