57 results about "Kinematics" patented technology

This disclosure mechanism geometrically constituted by eighteen concentric axes is manipulated for spherical coordinate kinematics. The mechanism includes a U-frame set, a V-frame set, six U-arc-link sets, six V-arc-link sets, and six transmit sets.

The application discloses a gate opening control system and method based on a force-displacement time error algorithm, and relates to the technical field of gate control, comprising the following modules: an actual comparison module is used for collecting the structure, transmission mechanism and motor performance parameters of a gate, and obtaining the actual measured running time; a core algorithm construction module is used for establishing a function of driving force changing with opening degree based on the relationship between mechanics and kinematics, and constructing a theoretical time-opening degree digital model; a theoretical calculation module is used for forming a fixed parameter combination to be calibrated, and outputting the theoretical running time under different working conditions; a model correction module is used for optimizing the fixed parameters in the theoretical model, so as to minimize the error between the theory and the measurement, and lock the optimal parameter combination; and an algorithm running module is used for inputting the target opening degree into the final control model, calculating the gate running time, and realizing the gate positioning control, so that the system can improve the accuracy and reliability of the gate control.

This application discloses a method, system, and program product for solving the error source term of oil film thickness in a hydrostatic slider. The method includes: Step S1: Constructing an oil film thickness function model that includes the error source term of the hydrostatic slider; Step S2: Constructing a pressure equation dependent on the error source term based on a preset transient Reynolds equation and the oil film thickness function model; Step S3: Calculating the mechanical characteristics between the hydrostatic slider and the oil film based on the pressure equation, and establishing a kinematic equation based on the mechanical characteristics; Step S4: Coupling and solving the pressure equation and the kinematic equation to obtain the error source term and the dynamic response result of the oil film thickness. The method, system, and program product for solving the error source term of oil film thickness in a hydrostatic slider of this application can at least solve the problems of large deviations in the oil film thickness predicted by existing hydrostatic slider oil film thickness prediction methods and the inability to accurately predict transient fluctuations in oil film thickness.

In summary, this involves controlling a kinematic system to assume a (previously obtained / predefined) target pose. For this purpose, a pose measurement system is integrated into the kinematic system. The pose measurement system comprises a first and a second solid body. The pose measurement system is configured to measure a solid body pose. The solid body pose is a pose that the first and second solid bodies assume relative to each other. The pose measurement system is integrated into the kinematic system by: (i) attaching the first solid body to the end effector and attaching the second solid body to the base, or (ii) attaching the second solid body to the end effector and attaching the first solid body to the base. One or more solid body poses are measured by the attached pose measurement system when the kinematic system is controlled with the respective configuration vector(s).The target configuration vector is determined based on the target pose and the measured solid pose(s), and the kinematics are controlled with the determined target configuration vector.

The application provides an unmanned surveying ship control method, system and circuit board based on attitude adaptive compensation, relates to the technical field of unmanned surveying ship control, and the method comprises the following steps: receiving an attitude compensation measurement trigger signal; collecting original angular rate and linear acceleration data of a ship body in real time according to the attitude compensation measurement trigger signal; and obtaining real-time three-dimensional space attitude parameters of the ship body according to a preset rigid body kinematics differential equation, the original angular rate and the linear acceleration data. The application improves the depth operation precision of the unmanned ship in a complex hydrological environment.

The application discloses an IMU array data fusion method and system based on physical constraint self-supervised learning, which acquires multiple IMU array original measurement data, constructs independent multi-layer perception machines for each IMU to output calibration parameters such as zero bias and scale factor of a gyroscope and an accelerometer, and calibrates errors of original data; a physical loss function is constructed based on the consistency of angular velocity of rigid body kinematics to realize self-supervised network training without external true value; and then, dynamic weighting fusion coefficients are calculated according to the consistency difference of the calibration angular velocity of each IMU, the calibration data is adaptively weighted and fused, and high-precision angular velocity and acceleration are output. The application does not need true value labels and does not depend on accurate mathematical models, fuses physical constraints to avoid non-physical estimation, dynamically weights to inhibit the influence of noise and abnormal sensors, significantly improves fusion precision and stability, and is suitable for inertial measurement scenes such as unmanned aerial vehicles, robots and automatic driving.

The present application belongs to the technical field of magnetic transmission and electromagnetic field numerical calculation, and relates to a dynamic magnetic circuit calculation method for transient electromagnetic torque of a radial magnetic gear. The steps are as follows: first, a two-dimensional grid model of the radial magnetic gear is established and physical material properties are assigned; second, grid element branch permeances are calculated and a global permeance sparse matrix is assembled; third, rotor positions are determined based on kinematic equations and equivalent magnetic flux source vectors are reconstructed; fourth, air gap magnetic flux density is solved and electromagnetic torque is calculated based on Maxwell stress tensor method. The dynamic magnetic circuit calculation method exhibits the characteristics of simplicity and convenience in practical engineering applications, and has excellent parameterization expandability and universality, and can flexibly adapt to performance evaluation of radial magnetic gears with different pole pair numbers and different topological sizes, providing a high-precision calculation tool with strong engineering universality for multi-objective optimization and parameter rapid iteration of magnetic gear transmission systems.

This invention relates to the field of multibody system dynamics, specifically a dynamic modeling method for simulating the flight motion of a morphing aircraft with an arbitrary number of rotating components. The method first abstracts the morphing aircraft as a tree-like multibody system containing virtual rigid bodies and virtual hinges. Rigid bodies and hinges are uniformly numbered using a depth-first traversal search, with the relative rotation angles between rigid bodies used as generalized coordinates. Then, a path matrix is ​​used to describe the system topology, and the center-of-mass velocity, center-of-mass acceleration, angular velocity, and angular acceleration of each rigid body are derived using the generalized coordinates. Next, based on the above kinematic parameters, the deflection velocity, deflection angular velocity, generalized active force, and generalized inertial force are calculated and substituted into the Kane equations to establish the multibody system dynamic equations. Finally, the dynamic equations are solved, and the motion state is updated according to a set time step, repeating the process until the simulation of the set duration is completed. This invention has strong versatility and good scalability, and is applicable to the flight motion simulation of morphing aircraft with an arbitrary number of rotating components.

This paper presents a method for fusing and reconstructing trajectory data from multiple sources in hybrid traffic flow, relating to the fields of multi-source sensor fusion localization and target tracking. The method acquires the 3D acceleration sequence and RGB video stream of the target object, extracting the geometric center coordinate sequence. Based on the frequency domain energy distribution of acceleration, the target's fundamental frequency parameters are obtained. Temporal filtering coefficients are constructed using the dynamic sampling rate of the video, and the geometric center coordinates are filtered to obtain a corrected center coordinate sequence, which is then mapped to a measurement vector. Kinematic state prediction is performed using acceleration to obtain prior inferred state variables, and then posterior updates are performed using the measurement vectors to obtain the optimal spatial position. The reconstructed trajectory sequence is generated by stitching the data together, and the sliding time window is updated based on feedback-optimized parameters. This method effectively eliminates spurious displacements caused by gait, fundamentally eliminating jagged oscillations in the trajectory, resulting in a smooth and stable fused trajectory.

The application discloses a satellite attitude system preset performance tracking control method based on a second-order disturbance observer, first, combining the rigid body satellite dynamics and kinematics equation, the state prediction error is introduced into the structure of the traditional second-order disturbance observer, the improved second-order disturbance observer is designed, the influence of high-frequency noise is weakened while the disturbance is estimated and compensated under the condition of low gain; secondly, the tunnel type performance function is introduced in the error conversion process, the transient and steady state performance of the attitude tracking error is improved; then, combined with the disturbance estimation result, a disturbance fault-tolerant auxiliary system is constructed, the performance boundary is flexibly adjusted by generating a disturbance non-negative correction signal, the influence of strong mutation disturbance is reduced, and the robustness of the system is guaranteed; finally, a preset performance anti-disturbance controller is designed for the satellite system, and high-precision attitude tracking control is realized. The application has higher efficient estimation performance and more accurate control precision, and effectively improves the anti-interference ability of the satellite system.

The present application relates to the technical field of mechanical arm control, and particularly relates to a mechanical arm trajectory drawing method and system based on an AZTND model; the method comprises the following steps: acquiring mechanical arm curve drawing task parameters and an AZTND solver; establishing a mechanical arm time-varying kinematics equation, introducing joint angular velocity constraints and acceleration constraints, and converting the curve drawing problem into a time-varying nonlinear equation; defining an error function as the residual of the time-varying nonlinear equation, constructing an AZTND dynamics equation, and determining the parameters of a segmented adaptive coefficient function according to the curve drawing stage; using an ODE numerical solution method to solve the AZTND dynamics equation in real time, obtaining a mechanical arm joint angular velocity control instruction, and driving a mechanical arm end effector to track an expected curve trajectory. The present application solves the problems of slow convergence speed, weak anti-interference ability and low geometric precision in traditional control in time-varying trajectory tracking, and realizes high-precision real-time drawing of complex artistic curves.

The present application relates to the technical field of machine tool error, and discloses a wind power bearing raceway curvature radius machining error prediction method, comprising the following steps: S1. According to the geometric structure of the heavy vertical lathe, a geometric error transmission model of the heavy vertical lathe is established by using rigid body kinematics, and the error transmission law of the machine tool components is described; S2. The geometric error of the machine tool is measured by using a laser interferometer, and the measurement is carried out by extracting feature points; S3. According to the error model and the transformation matrix, the geometric error is superimposed to obtain the position error of any point, and the position error and the profile error between points are calculated; S4. The actual machined wind power bearing raceway curvature radius is measured by using a three-coordinate measuring instrument, and compared with the predicted value, so as to verify the accuracy of the error prediction method, and the present application can provide theoretical and practical guidance for the design and manufacture of heavy machine tools and the vertical turning process of large rotary parts.

The application relates to a complex rock mass collapse disaster range prediction method and system. The method comprises the following steps: obtaining multi-dimensional monitoring data of a target rock mass to extract rock mass attribute features; performing geological modeling based on the rock mass attribute features to obtain a rock mass geological model; determining a collapse starting condition according to the rock mass geological model by using a machine learning model; combining the rock mass geological model and the collapse starting condition, simulating a rock mass collapse motion trajectory by using a kinematics-dynamics joint simulation method; and evaluating a collapse influence range based on the motion trajectory and generating a disaster range evaluation report. By using the method, the accuracy and reliability of complex rock mass collapse disaster range prediction can be significantly improved through multi-dimensional data fusion, machine learning accurate identification of starting conditions and dynamic simulation simulation.

The application discloses a kind of generalization multi-oil-bag underwater vehicle dynamics modeling method.The method first determines the number of oil tank and oil bag in buoyancy system by parameterization definition and determines its decision variable space;Subsequently, the position matrix of each unit is determined using the optimization algorithm based on Gaussian distribution;Then, the mass and volume redistribution model is established, and the dynamic gravity and dynamic buoyancy of the whole machine are accurately calculated according to the oil transfer amount;Based on the relative position of dynamic center of gravity and floating center, the restoring torque model is established;Finally, the six-degree-of-freedom kinematics and dynamics equations are constructed by integrating the attitude adjustment mechanism driving torque and hydrodynamic load.The application breaks the limitation of traditional model only adapting single configuration, has strong generalization, can accurately describe the dynamic drift effect of center of gravity and floating center under the coordinated control of multiple units, and significantly improves the motion prediction accuracy of complex configuration underwater vehicle in deep sea environment.

The application discloses a kind of helicopter formation flight dispersing guiding method.For the position of three helicopter formation, distance interval and distance interval requirement after air dispersing formation at a certain time, based on kinematic equation and plane geometry principle, wingman S-shaped maneuver dispersing guiding model is established in two-dimensional plane, the flight path point and flight parameter of wingman air maneuver dispersing are calculated by comprehensively considering the characteristics of helicopter formation flight and dispersing formation requirement, so that the should fly elements sent by ground command post air guiding are obtained.The method overcomes the defects of slow artificial estimation and low precision adjustment by experience, has the advantages of high precision, good real-time, computer programming easy to realize, etc., can meet the requirements of navigation solution precision and effectiveness of ground tower command task, can reduce the air guiding operation burden of commander, improve the degree of automation of command system.The method is especially suitable for the application of helicopter command system to formation flight command guiding.

This invention relates to the field of engineering earthquake and disaster prevention engineering technology, and particularly to a method and system for predicting the probability of fault deformation in engineering fault resistance. The method includes acquiring basic data of the target active fault, including the fault's geometric characteristics, kinematic characteristics, upper magnitude limit, recurrence period, elapsed time, focal depth, and deformation width; inputting the basic data as input parameters into a computational model; calculating the fault length based on the fault's geometric characteristics; and constructing a two-dimensional computational grid for along and across the fault. This invention provides a novel probabilistic prediction method for assessing the permanent displacement of the shallow crust caused by fault displacement during large earthquakes, as well as the intense deformation of the shallow crust near the fault. It can provide sub-meter level data on fault-alternating dislocation and cross-fault deformation at important engineering sites under a certain exceedance probability.

The application provides a three-dimensional vision-guided mechanical arm adaptive grasping method and system, which predicts a grasping pose by improving an attention mechanism to fuse local geometry and global constraints, after extracting local geometric features of sampling points, using surface normal and principal curvature information to construct key and value vectors containing rich local surface morphology, using global position and neighborhood information of the sampling points to generate a query vector, the core lies in using a grasping compatibility matrix based on the kinematics and geometric constraints of the mechanical arm end, the matrix is used as prior knowledge to modulate the initial attention score calculated by Q and K, generate an attention weight fused with feasibility, weight V based on the weight, generate a context-enhanced feature for each point, through a pose regression network, parallelly solve the grasping pose parameters and confidence corresponding to each point, and output the optimal grasping scheme through sorting and screening.

The application provides an Ackermann rate calculation method and device based on a front axle structure and a computer readable storage medium, and the method comprises the following steps: constructing a geometric model of a front axle steering trapezoid, wherein the geometric model comprises key hard point parameters; in the geometric model, the key hard point parameters are used to construct a relationship model between an inner wheel steering angle and an outer wheel steering angle; the outer wheel steering angle corresponding to the inner wheel steering angle under the current key hard point parameters is calculated based on the relationship model between the inner wheel steering angle and the outer wheel steering angle, and the Ackermann rate of the current front axle structure is calculated. Through the above geometric analysis method, the complex spatial kinematics problem is converted into a plane geometric calculation problem, which not only guarantees the calculation accuracy, but more importantly, realizes instant feedback of the front axle steering trapezoid design and the Ackermann rate evaluation, and greatly improves the early development and optimization efficiency of the chassis steering system.

This invention discloses a trajectory optimization method for a robotic arm transporting low-rigidity parts in a narrow space, comprising: constructing a joint trajectory motion model of the robotic arm; pre-setting trajectory planning equations; constructing the kinematic equations of the robotic arm based on the angular displacement of each joint, and obtaining the solution for the angular displacement of each joint; setting the range of motion time for each path segment in the motion trajectory, and iteratively optimizing the motion time of each path segment using chaotic mapping strategy, spiral encirclement strategy, Levy flight strategy, cross-sectional strategy, and elite retention strategy, and outputting the optimal motion time for each path segment; discretizing the optimal motion time, and outputting the angular displacement, angular velocity, and angular acceleration of each joint at each time node after discretization; mapping to the linear velocity of the robotic arm end effector, and optimizing the motion trajectory of the robotic arm using the linear velocity of the robotic arm end effector at each time node.

A technique is disclosed to implement a mathematical framework for modeling mechanical actuators (e.g., robotic arms) and to compute the differential kinematics of an end effector represented by a circle in three-dimensional space, which is described as a double vector of conformal geometric algebra. Furthermore, by using a circle to describe the grasping posture on an object, a differential kinematics-based control scheme is implemented to guide the actuator and minimize the error between the end effector circle and the target circle. The circle has three degrees of freedom about the center, two degrees of freedom about the orientation, and one additional degree of freedom about the radius, which can be used to describe the posture of the end effector and simultaneously adjust the position and orientation using a differential kinematics-based control scheme law.

The application discloses a second-order terminal sliding mode control method based on time delay estimation fuzzy observer backstepping method, and aims at unknown disturbance and trajectory tracking problems of a mechanical arm system in many practical problems, estimates kinematics and dynamics parameters of the system through time delay estimation, estimates total disturbance existing in the system through a novel fuzzy observer, combines the second-order sliding mode control to increase instantaneous response and reduce steady-state error, suppresses chattering phenomenon while guaranteeing finite time convergence of tracking error, and finally proves stability of the system by adopting a Lyapunov method, and according to comparison of different methods, fast and accurate tracking of a desired trajectory in the method is shown.

The application provides a motion data analysis method, system, device and storage medium. The original motion data of a motion target is acquired. When it is detected that there is a data missing interval in the original motion data, at least one candidate motion event hypothesis is determined based on a motion field partition where a previous motion state before the data missing interval occurs and a rule constraint condition of a motion item in which the motion target participates. For each candidate motion event hypothesis, the data missing interval is reconstructed according to a kinematic constraint condition corresponding to an event type of the candidate motion event hypothesis, to obtain a reconstructed data segment corresponding to the candidate motion event hypothesis. The reconstructed data segments corresponding to the candidate motion event hypotheses are respectively subjected to kinematic continuity verification with a subsequent motion state, to identify a target motion event in the data missing interval. The technical scheme provided by the application can solve the problem that the motion data cannot be physically consistently reconstructed due to unknown motion patterns in the data missing interval.

This invention discloses an autonomous unloading method, device, and medium for a loader, belonging to the field of loader unloading technology. The method includes: determining a feasible solution space for unloading trajectory planning based on the spatial constraints of the unloading target area and the kinematic model of the loader's working device; constructing a stage cost function and a terminal cost function for the unloading process based on a dynamic programming algorithm and the feasible solution space, and determining the globally optimal unloading trajectory; determining a mathematical model of the electro-hydraulic servo system based on the electro-hydraulic drive architecture of the proportional servo valve-controlled hydraulic cylinder of the loader's working device; constructing displacement, velocity, and acceleration tracking errors based on the globally optimal unloading trajectory and hydraulic cylinder extension / retraction data from the state acquisition module, determining a trajectory tracking error model; determining a nonlinear integral sliding surface function based on the trajectory tracking error model; and determining a control instruction set based on the nonlinear integral sliding surface function through equivalent control terms and switching control terms with chatter suppression.

The present application relates to a kind of multi-link press guide post synchronous precision quick regulation method.It includes the following steps: guide post synchronous precision error measurement based on internal diameter micrometer, the establishment of the kinematics model of transmission system of fusion regulation mechanism, optimal adjustment amount solving of regulation device based on inverse solution, quantitative adjustment operation and the test verification and model iteration fine adjustment of regulation effect of regulation device execution;The method realizes the change from "experience debugging" to "quantitative calculation", effectively solves the deficiency of existing regulation mode, improves the regulation efficiency and accuracy of the synchronous precision of the guide post of multi-link press.

The present application belongs to the technical field of geological disaster monitoring, and discloses a debris flow velocity inversion method based on an optical flow model, and proposes an integrated optical flow framework for simultaneously inverting the surface velocity field and the front velocity of the debris flow. Through three sets of large-scale flume experiments, the method provides a robust and accurate tool for characterizing complex flow kinematics. By simultaneously measuring the surface velocity field and the front velocity, the main limitations of existing computer vision techniques are overcome, and a more comprehensive understanding of the flow process is achieved. The core scientific contribution lies in the new physical insights obtained through synchronous measurement: the research results provide direct and strong observational evidence, which links the high-frequency velocity pulses at the front to the secondary surge dynamics propagating from the tail. This discovery is crucial for understanding internal momentum transfer and energy dissipation. At the methodological level, the framework is superior to the benchmark deep learning tracker in terms of reproducing flow velocity statistical characteristics and ensuring numerical accuracy.

A kind of hanging force design method for space manipulator ground test gravity compensation, comprising the following steps: obtaining kinematics parameters and dynamics parameters of manipulator;Obtain the installation parameters and mass parameters of the hanging tooling of gravity compensation system;Derive the mathematical model of the torque of each rotary joint of manipulator under the action of gravity environment and gravity compensation system in any arm type;Select several typical task configurations of manipulator;According to the mathematical model of joint torque of manipulator and the typical task configuration of manipulator, design the objective function, and determine the optimal hanging force of gravity compensation system by using mathematical optimization method.

The present application belongs to the technical field of tunnel track regulation, and discloses a tunnel track plate grouting lifting self-adaptive control method and system, which comprises the following steps: based on the actual track grouting scene, problem modeling is carried out, and a three-process track grouting model is built. The kinematic geometric relationship is analyzed, the PID control relationship is determined combined with the feedback mechanism, the closed-loop PID control loop is built based on Simulink in Matlab, and the feedback control of track grouting lifting is realized. Taking the key parameters of the PID controller as the decision variable, the multi-objective optimization algorithm is used to optimize the PID control effect, and the global optimal effect and dynamic adaptability of track grouting lifting control are enhanced. Combined with the three-process track grouting scene, experimental research is carried out to verify the feasibility and effectiveness of the proposed method. The fusion method based on multi-objective optimization and adaptive PID control proposed in the present application realizes the control optimization of tunnel track grouting lifting regulation engineering under multiple uncertainties, and provides protection for track lifting construction.