254 results about "Kinematic controller" patented technology

A motion control method for an adaptive self-reconfigurable pipeline robot based on environmental perception includes: acquiring internal images of the pipeline for scene recognition, segmenting planar surfaces and curved surfaces in the images according to recognition results, and extracting boundary lines of the pipeline; calculating a straight-pipe width, a bent-pipe curvature, a slope angle, and a step height to analyze passability of the robot; designing a path planner and a swing-arm planner to generate a reference trajectory and a swing-arm angle sequence of the robot, performing smoothing, and inputting the reference trajectory and the swing-arm angle sequence into a model predictive control (MPC) motion controller; estimating a position and state of the robot through an Error State Kalman Filter (ESKF) algorithm, and inputting estimation results and collision warning signals into the MPC motion controller; and finally outputting a signal for control of a motor and a swing-arm motor.

The invention discloses a crane operation parameter self-learning optimization control system oriented to complex working conditions, which is characterized in that a multi-dimensional physical quantity signal is processed through a hierarchical mixed data fusion module, and a working condition feature vector is generated by using a lightweight mode recognition network; the working condition identification and risk assessment module outputs a working condition type identifier and calculates a dynamic safe operation boundary; a physical model enhanced reinforcement learning decision engine is built in the parameter self-learning optimization module, a parameter adjustment instruction is generated through an actor network, and evaluation optimization is carried out through a reviewer network; the optimized parameter adjusting instruction is issued to a self-adaptive fuzzy motion controller to drive an execution mechanism; and after execution, collecting system response data as an empirical sample to be stored and used for periodically updating network parameters. Accurate perception and safety evaluation of complex working conditions are achieved, control parameters can be autonomously optimized through fusion learning and a physical model, and the self-adaptive control capacity, stability and safety of the crane in a changeable environment are improved.

The invention provides an intelligent motion control system based on multi-level expansion and multi-type motor compatibility, and aims to solve the technical problems that an existing motion control system is poor in expansibility and weak in motor type compatibility. The system comprises a main controller, a configuration memory and at least one detachable motor control module, the motor control module comprises a motion controller and a motor driver. The core of the method is that when a main controller is initialized, motor type parameters preset for all motor shafts are read from a configuration memory, and differential configuration is executed according to the motor type parameters: when a motor is of a first preset type, a motion controller and a motor driver are cooperatively configured; and when the motor is of the second preset type, only the motion controller is configured to output pulse / direction signals, and the motor driver is disabled. Through software and hardware decoupling, the number of shafts can be flexibly increased or decreased without changing hardware, various motors and encoders are compatible, the expansibility and deployment efficiency of the system are remarkably improved, and the development and maintenance cost is reduced.

The invention discloses an intelligent vehicle elastic planning and control method based on large language model guidance under network attack, and belongs to the field of vehicle information safety and control, and the method specifically comprises the steps: firstly, building an intelligent vehicle auxiliary decision making and control system, and installing the system on a to-be-detected vehicle; the automatic driving decision-making unit generates an expected driving intention of the current to-be-detected period; the path planning unit generates a corresponding reference trajectory sequence. A vehicle reachable set estimator calculates a maximum allowable motion reachable range. The scene text editor completes scene description of the driving environment in combination with the perception information and converts the scene description into a structured text; the large language model performs comprehensive judgment on an expected driving intention and a planned reference trajectory sequence based on a maximum allowable motion reachable range and structured text description, and gives a final auxiliary decision variable. And based on the reachable set estimation value, constructing a vehicle motion controller based on data driving, and obtaining a control instruction to complete execution. According to the invention, the adaptability and robustness of the real vehicle operation environment are improved.

The invention relates to the technical field of robot obstacle avoidance, in particular to a wafer transfer robot-oriented multi-modal real-time obstacle avoidance method and system, and the method comprises the steps: collecting environment data in real time through a multi-modal data collection device, and obtaining multi-modal environment data; performing space-time alignment on the multi-modal environment data, and establishing a workspace map; collecting operation data of the dynamic obstacle, and inputting the operation data into the constructed trajectory prediction model for trajectory prediction to obtain a trajectory prediction result; performing path planning on the wafer transmission robot to generate an optimal obstacle avoidance path; and verifying the optimal obstacle avoidance path, and outputting the optimal obstacle avoidance path to a motion controller for execution. According to the wafer carrying robot, the problem that the obstacle avoidance capability of the wafer carrying robot is insufficient in a dynamic environment is effectively solved, damage caused by collision in the wafer carrying process is effectively avoided, and the operation accuracy and safety of the wafer carrying robot in a complex production environment are improved.

Motion is coordinated between a robot and a mover in an independent cart system. Positions for a mover along a track for the independent cart system and for each axis of motion of the robot mounted on the mover are received at the motion controller. The axis position corresponds to either an angular position of the motor or a mechanical position of a corresponding axis on which the motor is mounted. The motion controller receives a robot motion command corresponding to a desired operation of the robot and generates a mover motion command for the mover and an axis motion command for each axis of the robot. The mover motion command and the axis motion commands are generated as a function of the robot motion command, the position of the mover along the track, and the position of the motor or of the axis for each axis of the robot.

The invention relates to the technical field of industrial equipment control, and discloses a dynamic maintenance management method and system based on the full life cycle of test equipment, and the method comprises the steps: obtaining a time domain vibration signal and torque current data during the operation of the equipment through a high-frequency vibration sensor and a current loop feedback interface; calculating an accumulated damage gradient parameter representing the physical recession degree of the mechanical transmission chain; the parameters are input into a preset damage stress coupling model to solve the maximum radial impact force allowed to be borne by the damaged part, and the impact force is mapped into a dynamic capability boundary for carrying out logic constraint on the motion planning instruction; and the motion controller reconstructs an ideal speed curve by using the boundary in an interpolation period, and reshapes a torque load spectrum output to a servo motor by reducing the jump of acceleration and deceleration sections. The problem that an existing static control strategy is mismatched with the dynamic aging characteristic of equipment is solved.

The invention belongs to the technical field of display panel manufacturing equipment, and discloses a large-size substrate lifting device, a control method of the large-size substrate lifting device and a carrying device.The lifting device comprises a substrate carrying table, a lifting mechanism, a flexible bearing array, an air pressure adjusting system and a motion controller; the flexible bearing array comprises a plurality of pneumatic bearing units arranged on the lifting mechanism, the pneumatic bearing units penetrate through the substrate carrying table, and the lifting mechanism can drive the flexible bearing array to move upwards so that the upper ends of the pneumatic bearing units can stretch out of the top face of the substrate carrying table to bear a to-be-carried substrate. The pneumatic bearing unit moves downwards to enable the upper end of the pneumatic bearing unit not to extend out of the top surface of the substrate carrying table so as to place the to-be-carried substrate on the substrate carrying table; the motion controller is used for controlling the lifting mechanism to ascend and descend and controlling the air pressure adjusting system to adjust the air pressure of each pneumatic bearing unit, so that the uniformity of the supporting force of the flexible bearing array on the to-be-carried substrate is ensured; therefore, the stability and the safety in the lifting process are improved, and the damage risk of the base plate is reduced.

The invention provides a path planning method and system and a cleaning robot, and belongs to the technical field of path planning. The method comprises the following steps: rasterizing an obtained swimming pool environment image to obtain a raster map; based on the attribute information of each grid in the grid map, identifying a to-be-cleaned uncleaned area set; taking the current position of the cleaning robot as a starting point, covering all the uncleaned areas and taking the shortest path total length as targets, searching in the grid map by utilizing a heuristic search method, and determining a target planning path of the cleaning robot to the uncleaned area set; based on the target planned path and a preset differential driving model in the cleaning robot, generating a walking control instruction for driving the driving wheels by the motion controller; and controlling the cleaning robot to move based on the walking control instruction. The cleaning time can be remarkably shortened, the coverage rate can be increased, the method can adapt to various complex swimming pool environments, and repeated cleaning and missing sweeping of the swimming pool are effectively avoided.

The invention discloses an immersive cinema dynamic content adaptation control method based on multi-modal fusion, and the method comprises the steps: collecting at least one non-contact physiological signal of a target audience seat area in real time, the physiological signal comprising a respiratory wave signal collected by a millimeter wave radar or a photoplethysmography signal collected by a near-infrared photoelectric sensor; performing time-frequency analysis on the physiological signal, and extracting a physiological wake-up characterization value in a current time window; the physiological wake-up characterization value comprises a heart rate variability change rate and a heart rate deviation value; constructing a dynamic damping adjustment model, and calculating a virtual damping coefficient of the seat movement system at the current moment based on the physiological wake-up characterization value; and the virtual damping coefficient is converted into an execution instruction of a seat motion controller, and damping force output of the motion platform is adjusted in real time. The technical problem that the pre-programmed motion feedback is disjointed with the real-time physiological and psychological state of the audience can be solved, the experience adaptability and comfort of the cinema seat are improved, and the system safety is improved.

To enable an operator to easily confirm the operation of a working machine and a turning body in the automatic turning control of a working machine.SOLUTION: A system according to one aspect of the present disclosure is a system for controlling a work machine. The work machine includes a swing body and a work implement. The turning body is turnable. The work implement is operably attached to the revolving unit. The system comprises an input device and a controller. The input device is operable by an operator to acquire teaching of an operation of automatic turning control of the work machine. The controller executes the automatic turning control in a normal mode in which an operation of the work implement and a turning operation of the turning body are controlled such that the work implement moves based on the teaching. The controller is configured to execute the automatic turning control in a rehearsal mode in which an operation of the work implement and a turning operation of the turning body are controlled such that the work implement moves based on the teaching at a speed different from a speed in the normal mode.SELECTED DRAWING: Figure 8

The invention discloses a multi-robot model-free adaptive cooperative control method and system based on neurodynamics. The method comprises the following steps: establishing a kinematic model containing a to-be-estimated Jacobian matrix and an unknown interference term for each robot; synchronously estimating the matrix and the interference term in real time by using an online learning algorithm based on the measurable speed; a comprehensive error model coupling individual tracking errors (actual and expected trajectory deviation of a single robot) and collaborative errors (tracking error difference of adjacent robots) is constructed, and a closed-loop error transmission structure is formed; then designing a distributed motion controller, and calculating a joint control speed enabling a comprehensive error to be converged to zero by using a neurodynamics method in combination with an online learning result and a synchronization error; and finally, discretizing a related formula, generating an iterative update formula, and outputting instructions in each control period to drive the robot to move according to the iterative update formula. The method does not need an accurate model, is high in robustness, can ensure that multiple robots accurately track the trajectory and maintain a stable formation, and is good in system expandability.

The invention relates to a multi-axis cooperative scanning motion control method and system for high-precision scanning imaging, and relates to the technical field of scanning imaging process.The method comprises the steps that in the scanning imaging process, an imaging mechanism model of light tube-sample-flat plate imaging is constructed based on a ray expected track of a ray source, and a light tube-sample-flat plate imaging model is constructed; and analyzing the expected position of the flat panel detector. Then, according to an expected position and a ray expected trajectory, analyzing a motion error and a coupling relationship between the expected position and the ray expected trajectory, and establishing a coupling influence; and according to the coupling influence, a high-precision synchronous motion controller is constructed. Then, kinematics capability limitation and coupling characteristics of each axis are analyzed, coupling mapping and speed constraint are introduced, and a control instruction of synchronous control is updated through speed correction; and finally, performing high-precision synchronous scanning control on each axis motion controller by using the control instruction. Therefore, the full-coverage detection and high-precision imaging of the detected sample are realized by limiting the motion and constraining a zooming synchronous control mechanism.

The invention discloses a multi-IP motion controller, industrial equipment and a control method, and relates to the technical field of virtual controllers. A plurality of virtual controls; a multi-IP binding module; an IP mapping module; wherein the virtual controller receives a data packet to generate a control instruction, and sends the control instruction to the corresponding execution terminal through the physical network interface, so as to control the operation of the execution terminal. According to the multi-IP motion controller provided by the invention, the independent IP address is allocated to each internal virtual controller and bound to the same physical network interface, and accurate data addressing and distribution based on the target IP address are realized in combination with an IP mapping mechanism, so that the problems of resource coupling and communication mixing of a traditional single IP architecture are effectively solved, the system integration and use process is simplified, and the system reliability is improved. And a high-performance, high-reliability and flexible solution is provided for complex multi-station cooperative control.

The invention discloses an underwater grabbing task-oriented double-software mechanical arm cooperation method, which is characterized by comprising the following steps of S1, establishing an automatic machine model of an underwater cooperative grabbing task of a double-software mechanical arm system; s2, on the basis of the automaton model established in the step S1, an upper-layer task planner is established in combination with a supervision and control theory; and S3, when the double-software mechanical arm system works, the sensed underwater sensing signals are abstracted into discrete events, the discrete events serve as input of an upper-layer task planner to trigger the upper-layer task planner to generate action instructions, and the generated action instructions are issued to independent motion controllers of the two mechanical arms respectively. According to the method, a perception-action sequence is described in a formalized mode based on an automaton model, an upper-layer task planning problem is converted into a supervision control problem to obtain a feasible task planner, and the upper-layer planning requirement of an underwater grabbing task is met.

The invention relates to a design method and system of a small radio telescope antenna electromechanical device, and relates to the technical field of radio astronomy, and the design method comprises mechanical structure design, communication control design and man-machine interaction design, and comprises the design methods of structure optimization design, finite element analysis, manufacturing process optimization, modular virtual assembly and the like. The structural stability and the manufacturing and assembling efficiency of the antenna are effectively improved; data transmission among the servo motor driver, the azimuth pitching encoder and the motion controller is achieved through serial communication, data transmission between the motion controller and the main control computer is achieved through the Ethernet, and data transmission between the main control computer and the mobile terminal is achieved through the Internet of Things and the cloud server. By designing and optimizing control software interfaces of the fixed terminal and the mobile terminal, multi-terminal remote convenient control of the antenna is finally realized.

The invention relates to the technical field of industrial automation control, and discloses an equal-height control method and system for a balanced lifting carrying clamping jaw, and the method comprises the steps: constructing a two-channel synchronous sensing network of the clamping jaw, analyzing a synchronous deviation signal of a two-side lifting mechanism, generating a height cooperative compensation strategy set of the two-side lifting mechanism, and calculating the height cooperative compensation strategy set of the two-side lifting mechanism; in combination with a height cooperative compensation strategy set and a safe clamping height difference threshold value of the to-be-carried material in the carrying process, an equal-height motion controller of the double-side lifting mechanism is configured, an equal-height control efficiency index of the equal-height motion controller is calculated, and a dynamic equal-height parameter adjusting instruction of the double-side lifting mechanism is generated; and outputting an equal-height intelligent control scheme of the clamping jaw by combining the height cooperative compensation strategy set, the equal-height motion controller and the dynamic equal-height parameter adjustment instruction. According to the invention, the highly cooperative control requirements of the balanced lifting carrying clamping jaw in different load distribution and complex operation environments can be precisely adapted, and the overall operation stability and operation reliability of an automatic carrying system are remarkably improved.

The invention discloses a three-dimensional ultrasonic biological microscope automatic scanning device and an image processing system thereof, and relates to the technical field of ophthalmology imaging, the device comprises a base, a first axial motion module, a second axial motion module, a probe assembly and a motion controller; the base is fixedly connected with the first axial movement module; the other side of the first axial movement module is connected with the second axial movement module; the length direction of the first axial movement module is perpendicular to the length direction of the second axial movement module. The probe assembly is fixedly connected to the side, away from the first axial movement module, of the second axial movement module. The motion controller is installed on the base and electrically connected with the first axial motion module and the second axial motion module. The technical problems that an existing ultrasonic biological microscope scanning device is complex in structure, large in control difficulty and difficult in uniform imaging are solved. The scanning device is easy to assemble, high in maintainability, convenient to operate and more comprehensive, balanced and flexible in scanning.

This invention discloses a design method for a submarine vertical plane motion controller based on a closed-loop gain shaping algorithm. Based on this algorithm, the submarine depth controller and pitch controller designed according to the state-space equations of the submarine dynamics model can quickly and accurately achieve variable depth and constant depth maneuvers, optimizing the response time and steady-state error of the submarine's vertical plane motion controller, thus improving the submarine's underwater performance and safety. By constructing the depth and pitch nonlinear functions of the submarine's vertical plane motion controller, and combining these functions with the control laws of the bow and stern rudder actuators obtained from the vertical plane motion controller, the linear error feedback of the submarine's vertical plane motion controller is improved, enhancing the controller's robustness and energy-saving effect, reducing the impact of external interference, and decreasing the energy consumption of the servo motors.

The invention discloses an ultrasonic nondestructive testing system and method for defects of a flip-chip. The ultrasonic nondestructive testing system comprises an upper computer, a pulse transceiver, an acquisition card, an ultrasonic sensor, a displacement platform, a three-dimensional motion platform and a motion controller, the upper computer serves as a control platform and is responsible for control instruction issuing and data processing. The pulse transceiver, the acquisition card and the high-frequency ultrasonic sensor form a signal acquisition and transmission platform which is responsible for transmitting, receiving, transmitting and analog-to-digital conversion of ultrasonic signals; the displacement platform is used for fixing the flip-chip bonding chip; the three-dimensional motion platform and the motion controller form a three-dimensional motion control system, and the three-dimensional motion control system is responsible for carrying an ultrasonic sensor to execute scanning at different spatial positions. The chip is integrally detected, welding spots do not need to be detected one by one, and the defect detection efficiency can be greatly improved.

The application discloses a kind of four-legged robot body obstacle avoidance following method and system based on full airborne pure vision, comprising: obtaining the pixel coordinates and depth information of target pedestrian and obstacle;Using state estimator, low-frequency visual measurement is converted into high-frequency continuous target prediction state;According to the relative position of obstacle, calculate the lateral obstacle avoidance speed instruction;Using image space motion model to solve target tracking control speed instruction;According to the distance of the nearest obstacle, dynamically adjust the fusion weight, generate three-dimensional integrated motion instruction containing longitudinal, lateral and yaw, and send to four-legged robot high-level motion controller.The application realizes stable following and safe obstacle avoidance in complex scene without relying on laser radar, UWB beacon, external motion capture system or offline calculation, improves the autonomy, robustness and deployment flexibility of four-legged robot target following task.

The application provides an electric unmanned ship trajectory tracking method, device, equipment, medium and product, and relates to the field of electric unmanned ships. Based on the current position of the electric unmanned ship, the coordinate error and the heading error of the electric unmanned ship are determined. The coordinate error and the heading error are input into a kinematics controller to obtain a virtual speed instruction. The virtual speed instruction is input into a dynamics controller to obtain a virtual thrust instruction. Based on the virtual thrust instruction, a target control instruction is determined and sent to the electric unmanned ship. The above steps are cyclically executed under the condition that the tracking is not completed until the tracking is completed. The kinematics controller and the dynamics controller share a fixed time gradient template, and the cost function of the kinematics controller contains an energy consumption control index. The application adopts a two-layer controller structure and shares a fixed time gradient template, and sets an energy consumption control index in the cost function corresponding to the kinematics controller, so that fixed time convergence and energy consumption suppression can be realized.

The invention discloses an off-machine rolling control system, method and equipment for a cord fabric weaving machine, and the system comprises a motion controller which is used for collecting the pulse frequency of a weaving machine rolling servo controller when the starting of the weaving machine is detected; the pulse frequency is converted into a linear speed, and the linear speed is sent to the programmable logic controller; the target rotating speed is sent to an out-of-machine rolling servo controller; the programmable logic controller is used for calculating the rotating speed according to the linear speed to obtain a target rotating speed; sending the target rotating speed to a motion controller; and the off-machine rolling servo controller is used for driving the cloth roller to roll the cloth according to the target rotating speed. The woven cloth is prevented from falling on the ground and being polluted, and the cloth is good in forming and free of deviation.

One embodiment of the present invention sets forth a technique for training a neural motion controller. The technique includes determining a first set of features associated with a first control signal for a virtual character. The technique also includes matching the first set of features to a first sequence of motions included in a plurality of sequences of motions. The technique further includes training the neural motion controller based on one or more motions included in the first sequence of motions and the first control signal.

This invention discloses an iterative learning path tracking control method for USVs based on virtual potential field guidance, comprising: establishing a nonlinear mathematical model of the USV; obtaining the gravitational model and repulsive model of the virtual potential field; obtaining the guidance model of the USV; obtaining the kinematic controller of the USV system; obtaining the dynamic controller of the USV system, and controlling the USV system. This invention's iterative learning path tracking control method for USVs based on virtual potential field guidance, by establishing the gravitational and repulsive models of the virtual potential field of the USV model, incorporates an obstacle avoidance mechanism that considers the shape of the obstacle itself into the guidance algorithm. This solves the problem that most existing adaptive control obstacle avoidance algorithms treat obstacles as point masses, making the obstacle avoidance mechanism of this invention more reliable and enhancing the autonomous collision avoidance performance of ships.

The application provides a parameter optimization method and a bionic control system based on an orthogonal axis parallel device, and belongs to the technical field of robot joints and bionic motion mechanisms, and the method comprises the following steps: establishing an orthogonal axis parallel mechanism mathematical model; taking the human hip joint motion range as the reference, a multi-objective optimization model of the orthogonal axis parallel mechanism mathematical model is established; the multi-objective optimization model is solved to obtain the optimal solution of the to-be-optimized parameters of the orthogonal axis parallel mechanism mathematical model; the optimal solution is used to generate positive kinematics training data; the positive kinematics training data is used to train the pulse neural network of a pulse neural network positive kinematics controller; and the trained pulse neural network is deployed in the pulse neural network positive kinematics controller. The system of the application is controlled by using the pulse neural network positive kinematics controller. The method of the application overcomes the limitation of single-objective optimization, and the system of the application improves the load and motion capacity.

The invention provides a cooperative control method and device for a sticker pipe cutting machine, electronic equipment and a storage medium, and relates to the technical field of sticker pipe cutting machine control. The method comprises the steps that sticker material state information, slitting mechanism state information and pipe rotating mechanism state information are obtained, and abnormal information is recorded; acquiring event information according to the abnormal information; according to the analyzed event information, matching a corresponding cooperative processing strategy from a preset exception processing strategy library; according to the selected cooperative processing strategy, a cooperative motion control instruction for the paper pasting mechanism, the slitting mechanism and the pipe rotating mechanism is generated; and the motion state of the mechanism is adjusted by issuing the cooperative motion control instruction to the motion controller of the corresponding mechanism. The method solves the problems that a large number of defective products are generated and the shutdown time is unnecessary due to the fact that a traditional control mode of global shutdown or simple linkage is adopted, the abnormity is processed more effectively, and the defective products and the shutdown time are reduced to the maximum extent.

The application discloses a thermostat, which comprises a shell, a control mechanism and a controller. A cold head is arranged in the shell, the top of the cold head defines a containing space, the cold head defines an input channel, an output channel and a discharge channel, a sample table is arranged on the top wall of the cold head, the sample table is provided with a temperature detection member and a heating member; the control mechanism is arranged in the containing space, the control mechanism comprises a partition member, a blocking member and a driving member, the partition member divides the containing space into a cooling space and a conveying space, the cooling space is located at the top of the partition member, the conveying space is located at the bottom of the partition member, the input channel and the output channel are communicated with the conveying space, the discharge channel is communicated with the cooling space and the output channel, the partition member is provided with a communication hole, the blocking member is suitable for blocking the communication hole, and the driving member is used for driving the blocking member to move close to or away from the communication hole; and the controller controls the driving member to work and controls the heating member to start or stop heating according to the detection signal of the temperature detection member. The application can reduce the energy consumption of the thermostat.

The application provides an intelligent motion control system based on multi-level expansion and multi-type motor compatibility, aiming at solving the technical problems of poor expansibility and weak motor type compatibility of the existing motion control system. The system comprises a main controller, a configuration memory and at least one detachable motor control module; the motor control module comprises a motion controller and a motor driver. The core is that the main controller reads the motor type parameters preset for each motor shaft from the configuration memory during initialization, and performs differentiated configuration accordingly: when the motor is of a first preset type, the motion controller and the motor driver are configured cooperatively; when the motor is of a second preset type, only the motion controller is configured to output pulse / direction signals, and the motor driver is disabled. The application decouples software and hardware, can flexibly increase or decrease the number of shafts and is compatible with various motors and encoders without changing the hardware, significantly improves the expansibility and deployment efficiency of the system, and reduces the development and maintenance cost.