190 results about "Manipulator system" patented technology

The invention belongs to the technical field of position tracking control of rigid multi-joint mechanical arms, and discloses a fuzzy self-adaptive visual servo control method and system for a multi-joint mechanical arm system for placing bobbins in a textile workshop, and the method comprises the steps: constructing an image error model according to the positions of feature points on an image plane; the fuzzy logic system is used for processing uncertain items in the system, the instruction filtering and fuzzy self-adaption technology is used for achieving tracking control over the expected trajectory of the system, the problem of calculation complexity is solved, and adverse effects caused by filtering errors are eliminated. In the process of changing the bobbins, the bobbins are placed on a creel through a multi-degree-of-freedom robotic arm, a clamping jaw at the tail end of the robotic arm is required to accurately grab the bobbins for feeding and discharging, and the requirement for accurate and rapid control of the robotic arm is met, so that research on visual servo control of the robotic arm is of great significance. The method has a good control effect, the problem of calculation complexity in the design process of the controller is solved, the trajectory tracking error is smaller, and the system robustness is higher.

The invention discloses a flexible finger friction contact collision dynamics simulation method based on an absolute node coordinate method, which comprises the following steps: simplifying a finger of a flexible manipulator into a connecting rod system, taking a tail end knuckle as a flexible beam for consideration, and carrying out unit division on the flexible beam system based on the absolute node coordinate method; a contact collision process is described by using an additional constraint method, meanwhile, switching of a viscous state and a sliding state is considered, a friction-containing flexible finger contact collision dynamic model is established, and a dynamic equation of a system is solved by adopting a double-circulation implicit integral algorithm; and obtaining a curve graph that the flexible finger tail end displacement changes along with time and the finger tail end contact force changes along with time. The invention provides a new frictional contact collision dynamic model for a flexible manipulator system, and provides more perfect data information and image information for researchers in the field.

A finite time dynamic mechanical arm control method based on a speed reconstruction strategy comprises the steps that firstly, a mechanical arm system physical model containing joint torque is constructed, joint tracking errors are defined, and a mechanical arm system state space model is obtained; 2, constructing a finite-time high-bandwidth gain speed estimator, defining a state estimation error, and obtaining an estimation error dynamic equation; 3, defining an auxiliary state to obtain an auxiliary state dynamic equation; 4, constructing a finite time non-recursive adaptive controller; and 5, obtaining a final input torque of the controlled system, and outputting the final input torque as a joint torque. According to the method, through the processes of error modeling, state estimation, auxiliary conversion, control law design and closed-loop feedback, the dynamic tracking problem of the mechanical arm is converted into the finite time convergence problem of the error state, meanwhile, dynamic gain and robust compensation are introduced, the adaptability of a system to parameter uncertainty and external disturbance is improved, and the system reliability is improved. And a high-precision and high-robustness control target is realized.

The invention relates to the technical field of robots, in particular to an inspection robot mother ship split robot folding and unfolding manipulator system which comprises an inspection vehicle base and a manipulator arranged on the inspection vehicle base. The manipulator comprises a telescopic mechanism; the inspection vehicle base is provided with a folding mechanism; the system further comprises a split robot and a storage bin for containing the split robot. An access channel is arranged above the storage bin; an elastic mechanism is arranged at the bottom of the storage bin; a pressing mechanism is arranged above the access channel; the in-out channel is provided with a retracting opening, and the retracting opening faces the direction opposite to the direction in which the folding mechanism folds the telescopic mechanism. The access channel is further provided with a push-pull mechanism, and the push-pull mechanism is provided with an electric locking device. A Halbach permanent magnetic mechanism is arranged on the front side of the split robot; an electromagnetic induction coil is wound outside the middle permanent magnet and the yoke, and the electromagnetic induction coil generates magnetism opposite to the middle permanent magnet after being electrified. The inspection robot is prevented from rolling over, and the split robot is prevented from falling.

The invention discloses a multi-mode sensing manipulator system based on flexible electronic skin, an integration process and a test method, and the multi-mode sensing manipulator system based on the flexible electronic skin comprises a flexible electronic skin sensor attached to a manipulator; the flexible electronic skin sensor comprises a flexible sheet and a liquid alloy network arranged in the flexible sheet, the liquid alloy network comprises an SSPP structure and a piezoresistive sensing structure located on the periphery of the SSPP structure, and the SSPP is a simulated surface plasmon; the piezoresistive sensing structure is connected with the signal processing circuit through a flexible wire bar and transmits a piezoresistive signal to the processor; the SSPP structure is connected with the SDR module through a coaxial line and is connected with the processor. According to the multi-mode sensing manipulator system based on the flexible electronic skin, the integration process and the testing method, the functions of multi-dimensional force feedback, substance penetrating type sensing and dynamic curved surface adaptation are achieved.

The invention relates to the technical field of industrial robot control, and discloses a single-connecting-rod mechanical arm system fault-tolerant asynchronous control method based on double-variable decision, which comprises the following steps: establishing a semi-Markov jump system dynamic model for describing the operating characteristics of a single-connecting-rod mechanical arm; based on the dynamic model, designing a fault-tolerant asynchronous controller structure based on a double-variable decision and an experience-machine cooperative operation strategy; establishing sufficient conditions which enable the closed-loop system to be randomly stable and meet H infinity performance indexes; and the numerical value of the gain of the machine controller is obtained by solving the linear matrix inequality set, and a final control law is generated to conduct fault-tolerant asynchronous control on the single-connecting-rod mechanical arm. According to the fault-tolerant asynchronous control method for the mechanical arm, fault-tolerant asynchronous control of the mechanical arm is achieved through a double-variable decision and an experience-machine cooperation strategy in combination with modal transfer rate boundary processing, and the random stability and the H-infinity performance of the system are guaranteed under the modal mismatching and fault working conditions.

The invention provides a preset performance fault-tolerant control method under motor failure of a tendon-driven mechanical arm. The preset performance fault-tolerant control method comprises the following steps: constructing a tendon-driven mechanical arm system model with actuator fault, external interference and system parameter uncertainty; designing a tendon-driven mechanical arm trajectory tracking error model and a fixed time sliding mode observer; an improved preset performance function is constructed, so that the trajectory tracking position error of each joint of the mechanical arm meets a preset performance boundary; and a fixed-time preset performance fault-tolerant controller is designed, so that trajectory tracking errors of all joints of the mechanical arm are converged to a preset performance boundary within fixed time. According to the method, non-singular terminal sliding mode control is combined with the preset performance function, so that the performance boundary constraint of the tracking error is realized while the stability of the fixed time of the system is ensured; by dynamically adjusting the boundary of the performance function, the problem of control precision degradation under the actuator fault working condition is effectively solved, and the robustness and trajectory tracking precision of the system are remarkably improved.

The invention discloses a teleoperation tactile feedback manipulator system which comprises a bionic manipulator, a somatosensory glove and a hand posture recognition module, the bionic manipulator is in wireless communication with the somatosensory glove, and the hand posture recognition module is in wireless communication with the bionic manipulator and the somatosensory glove. According to the teleoperated tactile feedback manipulator system, through cooperative work of the somatosensory glove and the bionic manipulator, an operator can visually and flexibly control the manipulator, the operation precision and efficiency are improved, the flexible pressure sensor is used for detecting the grabbing pressure in real time, and a pressure signal is fed back to the somatosensory glove; the motion sensing glove generates corresponding tactile feedback according to the pressure signal, so that an operator can sense the grabbing condition of the bionic manipulator, the object is prevented from being damaged or sliding off, the operation accuracy and reliability of the bionic manipulator are further improved, support is provided for fine operation in a complex environment, and the motion sensing glove is convenient to install and has good applicability.

A bin manipulator system and a method of using the bin manipulator system are provided. A bin manipulator system for use in an automated storage and retrieval system, the bin manipulator system comprising: a first location for one or more bins; a second location, wherein the second location comprises guiding means for guiding the box into and / or out of the container; and a bin manipulator, the bin manipulator comprising: a movable support movable from a first position above a first location to a second position above a second location; and a paddle board assembly having at least a first pair of paddle boards and arranged to move the at least first pair of paddle boards relative to the movable support in a first horizontal (x) direction and in a vertical (z) direction, where the bin manipulator system is arranged such that the bin at the first location is accessible by the bin manipulator and the bin at the second location is accessible by the bin manipulator. And the bin manipulator system is controllable to engage with the bin, move the bin from the first location to a second location, and insert the bin at the second location into a container at the second location; and / or the box in the container at the second location is accessible by the box manipulator, and the box manipulator is controllable to move the box out of the container and place the box at the first location. The method is to move a bin from a first location and place the bin in a container at a second location, and / or to remove a bin from a container at a second location and place the bin in the first location.

The invention relates to the technical field of intelligent clamping control, in particular to an online prediction method and system for the clamping stability of a flexible manipulator, and the method specifically comprises the following steps: collecting a clamping operation signal in a simulation experiment platform through a sensor network, and constructing a data set marking the clamping instability probability; performing alignment processing on unequal-length signals by adopting dynamic time warping integrated with physical constraints; then constructing an online model including multi-modal feature adaptive extraction fusion, time sequence feature enhancement and key frame dynamic detection and stability probability prediction, and completing model training optimization by using mean square error loss and small-batch gradient descent; and finally, deploying the model to a manipulator system to realize real-time data processing and clamping instability probability online output. The method can effectively adapt to a biochemical vessel clamping scene, the time sequence signal alignment precision and the risk prediction reliability are improved, and a real-time guarantee is provided for the operation stability of the flexible manipulator.

Systems and methods are described for determining task based utilization of instruments and repositionable structures. The system may include one or more repositionable structures operatively coupled to one or more instruments, and a control system operably coupled to the one or more repositionable structures, the control system configured to receive a plurality of data streams from one or more data sources and analyze the data streams to identify a task to be performed; determine, based on the task to be performed and via an actor selection machine learning model, one or more selected instruments for performing the task, or a selected repositionable structure of the repositionable structures; generate, via a robotic action machine learning model, one or more action tokens for controlling the repositionable structures based on the task and the selected instrument or selected repositionable structure; and control the selected instrument or selected repositionable structure to perform the task.

The invention relates to an automatic loading and unloading system for a large-specification directional drill rod, and belongs to the technical field of underground coal mine drilling equipment. The system adopts a single-manipulator modular design, and mainly comprises a conveying manipulator and a drill rod box capable of being quickly replaced. The conveying manipulator achieves accurate positioning and posture adjustment of a drill rod through cooperative cooperation of an inclination angle adjusting mechanism and a horizontal displacement mechanism, the inclination angle adjusting mechanism adopts a rigid swing arm of a double-rotation-pair structure to be matched with a limiting type driving assembly, and the horizontal displacement mechanism adopts the combined design of a linear guide assembly and a linear driving assembly. The drill rod box is of a frame structure with the top open, multiple columns of separated storage cavities are formed in the drill rod box, and a support assembly is arranged at the bottom to achieve lateral hanging. According to the system, the complex structure of a traditional double-manipulator system is simplified, the loading and unloading efficiency of the drill rod is improved, the adaptability of equipment in a narrow roadway is enhanced, and an efficient and reliable solution is provided for automatic loading and unloading operation of the large-specification directional drill rod in an underground coal mine.

The present invention discloses a simplified multi-joint manipulator friction parameter identification method based on the Stribeck model. The method process is as follows: the multi-joint manipulator system is split into multiple single-joint subsystems; a friction force model of each subsystem is constructed; for each subsystem, the driver is used to drive the subsystem to sample its angle, angular velocity, and torque; the sampled angular velocity is filtered, and the angular acceleration is obtained using a Butterworth filter; the angle, angular velocity, torque, and angular acceleration are substituted into the model of the single-joint subsystem to calculate the friction torque, and the friction parameters are identified based on the least squares method; the obtained friction parameters are used as the friction model parameters of the multi-joint manipulator system. The simplified multi-joint manipulator friction parameter identification method based on the Stribeck model proposed in the present invention can reduce the computational complexity of the multi-joint manipulator system friction parameter identification and can provide accurate modeling of the manipulator friction.

The invention belongs to the technical field of textile mechanical arm impedance control, and particularly discloses an uncertain textile mechanical arm system fixed time impedance control method and system based on a disturbance observer. The fixed time interference observer designed by the method can effectively estimate and compensate external unknown nonlinear interference signals. Besides, an anti-saturation auxiliary system is further designed to solve the controller design problem caused by input saturation, when the control input does not have a saturation phenomenon, the state of the anti-saturation system is converged to zero, and the influence of the anti-saturation system on the control performance is reduced. In addition, instruction filtering and fuzzy self-adaption technologies are further introduced in the method, and the problems of calculation explosion in backstepping design and unmodeled dynamics and unknown friction existing in a mechanical arm system are solved. According to the method, the influence caused by external unknown nonlinear interference and saturation can be effectively overcome, it is guaranteed that all signals in a closed-loop system are converged within fixed time, and meanwhile a good position tracking effect is achieved.

The invention relates to a self-adaptive control method for a multi-mechanical-arm system with unpredictable states. The method comprises the following steps: constructing a communication topological structure of the multi-mechanical-arm system by utilizing a graph theory; a dynamic model of the multi-mechanical-arm system is established, and the dynamic model of the system is converted into a state model; setting a leader trajectory and defining a collaborative error model; establishing a state observer, and estimating an unmeasurable system state variable by using the state observer; constructing a radial basis function neural network model, and estimating an uncertain nonlinear function existing in the system; and a self-triggering mechanism is utilized to design triggering conditions so as to dynamically prolong a triggering interval, and a controller based on cross coupling errors is designed so as to control the multiple mechanical arms to track an expected trajectory within the specified time. Aiming at a multi-mechanical-arm system with unmeasurable states, the invention designs a self-adaptive neural network specified time controller based on a self-triggering mechanism, so that all mechanical arms can be converged to a specific track established by a leader within specified time.

The invention discloses a mechanical arm dynamic constraint control method and system oriented to model uncertainty compensation, and the method specifically comprises the steps: building a mathematical model of a mechanical arm system, and introducing a barrier function to convert a state constraint control problem of the system into a stability control problem; designing a neural network estimator based on the multilayer feedforward neural network, and estimating matching and non-matching endogenous disturbances suffered by the system; designing a disturbance observer based on a neural network estimator, and estimating other matching and non-matching disturbances of the system; designing a mechanical arm dynamic constraint intelligent controller and a neural network adaptive law; and selecting an initial value of a neural network weight parameter, the adaptive law matrix and a controller parameter, and carrying out dynamic constraint control on the mechanical arm. According to the method, the uncertainty of the model can be effectively compensated, meanwhile, high-precision trajectory tracking is achieved, it is strictly guaranteed that the system state does not exceed the dynamic constraint range, and the control precision, adaptability and reliability of the mechanical arm system under the complex working condition are improved.

The invention discloses a mechanical arm control method and system. The method comprises the steps that a dynamic event triggering condition and a cost function are set according to error constraints of a mechanical arm system; estimating a cost function by using a commentator neural network to approach an optimal cost function, so that an optimal controller is generated when the Hamiltonian-Jacobi-Bellman estimation error is minimum; wherein the trigger threshold is adjusted according to the dynamic event trigger condition, and the update frequency of the reviewer neural network weight matrix update rule is controlled; by introducing a dynamic event triggering mechanism and a reinforcement learning method, the defects of the prior art in the aspects of self-adaptability, buffeting suppression, model errors, energy consumption optimization and the like are overcome.

This application relates to a predetermined-time tracking control method for a free-floating space manipulator system, and pertains to the field of trajectory tracking control technology for manipulator systems. The aim is to address the poor stability and low robustness of free-floating space manipulator systems when facing model uncertainties and external disturbances. This application establishes a dynamic model of the space manipulator in free-floating mode; designs a nonlinear disturbance observer based on predetermined-time convergence; constructs piecewise continuous sliding mode variables based on the dynamic model; constructs a non-singular predetermined-time sliding mode controller based on the dynamic model, the nonlinear disturbance observer, and the piecewise continuous sliding mode variables; and utilizes the non-singular predetermined-time sliding mode controller to perform predetermined-time trajectory tracking control on the free-floating space manipulator system.

The present invention relates to the field of medical device technology, and specifically to a manipulator system based on a toggle lever locking, comprising a clamping mechanism, a bending adjustment mechanism, a direction-changing mechanism, a handle mechanism installed on one side, and a toggle locking mechanism provided on the handle mechanism, wherein the clamping mechanism comprises a clamp head and a drive wire, the bending adjustment mechanism comprises a bending assembly and a traction wire provided through the bending assembly, the handle mechanism comprises a handle shell, a bending adjustment cover, a bending adjustment ball, a connecting rod fixedly connected to the bending adjustment ball, a connecting block provided on the connecting rod, and a control handle, and the toggle locking mechanism comprises a central shaft sleeve rotatably mounted on the connecting rod, a toggle lever fixedly connected to the central shaft sleeve, a matching block, a follower lever rotatably connected to the matching block, and a clamping arm. The present invention quickly performs locking and unlocking operations by adjusting the position of the toggle lever, and the operation method is simple and intuitive, thereby ensuring the safety and success rate of the operation.

The invention relates to the technical field of semiconductors, and discloses a wafer loading and unloading device and method.The device comprises an upper computer control system and further comprises a mechanical arm system and a detection table system which communicate with the upper computer control system; the mechanical arm system comprises a mechanical arm controller communicating with the upper computer control system, and further comprises a wafer storage box and a feeding and discharging mechanical arm which communicate with the mechanical arm controller, and the wafer storage box and the feeding and discharging mechanical arm communicate with the upper computer control system. The detection table system comprises a detection table controller communicating with the upper computer control system and a detection table communicating with the detection table controller. The problem that in the prior art, transmission errors are large is solved.

The invention discloses a generalized dynamic predictive control method for realizing trajectory tracking of a manipulator system, and relates to the technical field of predictive control of the manipulator system.The generalized dynamic predictive control method comprises the steps that the manipulator system is generated, and a mathematical model is constructed through the manipulator system.The generalized dynamic predictive control method is combined with zero-static-error predictive control; the trajectory tracking control of the controlled manipulator system can realize higher tracking control precision; according to the method, the adaptive transient performance optimization capability of the method can be well guaranteed through a prediction control time domain on-line updating mechanism; according to the method, a design framework based on generalized predictive control is adopted, meanwhile, a concise and clear guidance mechanism is provided for selection of control parameters, and the speeds and position quantities of all joints of the manipulator system are collected through position and speed sensors with good measurement performance, so that the closed-loop manipulator system can adapt to various industrial scenes; moreover, the system has good track adjustment performance, and improves the overall intelligent management level.

Disclosed is a safety shared control system based on performance of teleoperator, including a master teleoperation system, a slave robotic manipulator system and a communication module; where the master teleoperation system includes EEG signal measurement of a teleoperator, hand controller operation input, and upper computer software, and the upper computer software includes a graphical user interface (GUI), safety simulation for protecting the safety of a robot, and a PoT model; and the slave robotic manipulator system includes a robotic manipulator, a vision camera and lower computer software, and the lower computer software includes a target recognition algorithm, an autonomous controller, and a shared controller for dynamically allocating human-robot control weights. A safety control system coefficient of the teleoperator is identified through safety simulation prior to actual operation, such that a safety control method for different operating experience is implemented, and safety operation of a teleoperation robot is realized.

The application provides a driving rope and mechanical hand system with force sensing capability, and belongs to the technical field of bionic mechanical hands. The system is composed of a tensile strain sensor and a driving rope. The tensile strain sensor is arranged on the surface of the driving rope and is bonded with the front section by using a flexible adhesive to be arranged in a mechanical hand. The tensile strain sensor and the driving rope are separated at the rear section. The separated driving rope is used for connecting a motor, and the tensile strain sensor is used for connecting a control system. In this way, the tensile strain of the driving rope can be measured in real time while power is transmitted, and the gripping force of a mechanical finger is obtained, so that the "sensing and driving integration" mode of a bionic tendon is realized.

Provided is an operation controller that accepts the bending operation of a bending part by a medical manipulator, the operation controller comprising: an interface to which the bending operation is inputted and which can detect the operation amount of the bending operation; and a resistance mechanism which is arranged inside of the interface and which generates, for the interface, a resistance force that changes in accordance with the operation amount. The interface can detect the operation amount applied to the bending part in two or more bending directions, and the resistance mechanism generates the resistance force from a change amount according to the maximum bending amounts in the two or more bending directions.

The application discloses a controller driver semi-physical simulation verification system for a space manipulator system, comprising: a real system and a simulation system; the real system comprises a space manipulator controller, joint drivers and joint units; the simulation system comprises a controller simulation module, joint driver simulation modules and a Vrep manipulator simulation module, which are used for simulating the related functions of the space manipulator controller, joint drivers and joint units respectively; the joint driver simulation modules are used for simulating the related functions of the joint drivers; and the Vrep manipulator simulation module is used for simulating the related functions of the joint units. The application aims at solving the difficulty in function verification caused by the high coupling degree of each subsystem of the space manipulator system, and designs simulation software of the subsystems and corresponding hardware and simulation models to build multiple semi-physical simulation subsystems, so that the function decoupling of the complete control system is completed, and each subsystem has the ability of independent debugging and joint debugging.

The present invention discloses a fault-tolerant iterative learning control method for a robotic arm system based on a balance factor. Based on the derivative relationship between the parameters of the robotic arm system, the system is reconstructed into a second-order system, a backstepping error and a virtual controller are constructed. At the same time, to avoid the imperfect reset of the system state at the beginning of each iteration, a parameter update law based on the balance factor is constructed, and an iterative learning controller is designed to control the robotic arm system and compensate for actuator faults, parameter uncertainties and disturbances. Compared with traditional control methods that require an accurate mathematical model, the control algorithm proposed in the present invention is more novel and has simple application conditions. When this method is used for repetitive task operations, it effectively improves the control accuracy and has good engineering application value.

This medical manipulator system is provided with: a medical manipulator comprising an insertion portion having a curved portion, and a curved wire connected to the curved portion; and a drive device that is connected to the medical manipulator and drives the curved wire to bend the curved portion. The drive device pulls the curved wire at higher speed when the curved wire is slackened, compared to when the curved wire is slackened.

The invention discloses a single fruit picking soft manipulator and a conveying device, and relates to the field of agricultural intelligent machinery, and the single fruit picking soft manipulator specifically comprises a fruit picking manipulator system, a soft driver, a conveying pipe, a multi-axis mechanical arm, a walking chassis, a collecting basket and the like. According to the fruit picking manipulator system, the rotating speed and the direction of a stepping motor are controlled to drive a conveying belt to rotate, so that speed difference occurs, and basic actions such as twisting and pulling for fruit palm picking are achieved; according to the active conveying system, by controlling the air pressure of each cavity of the soft driver, the soft driver is made to conduct bending motion, fruits in a fruit conveying cavity in the center of the soft driver are conveyed to a conveying pipe opening, when enough fruits are stored, the soft driver moves to deform or changes the posture and height of the multi-axis mechanical arm, the fruits are conveyed to a collecting basket along the conveying pipe opening, and the collecting basket is used for collecting the fruits. The invention aims to save the time for frequently changing poses of a mechanical arm during fruit harvesting and the time consumed by the reciprocating motion of the mechanical arm in the single fruit picking and collecting process, and improve the single fruit picking efficiency.

The embodiment of this specification provides a single-link multi-manipulator adaptive event-triggered control method with given performance, which is characterized by comprising: modeling a multi-single-link manipulator system to obtain a single-link manipulator state equation with input dead zone and saturation constraints; designing the i-th single-link manipulator consistency tracking error, and designing a first virtual control law α i,1 and the adaptive law to design an adaptive event triggering mechanism; design a second virtual law α i,2 , adaptive laws, and simulation experiments were conducted using a Matlab experimental platform. To achieve the goal of convergence of the system to a given performance within a given time, the present invention combines the speed function and the performance function to obtain a speed-performance function. Through clever mixing and transformation, a transformation function and a barrier Lyapunov function are constructed, enabling the system to converge to a given performance within a given time while avoiding violations of state constraints.

A medical manipulator system includes a medical manipulator including a bending portion and a bending wire configured to bend the bending portion, an actuator configured to bend the bending portion by driving the bending wire, a sensor configured to detect tension of the bending wire, and a controller configured to control the actuator. The controller drives the bending wire so that the tension of the bending wire does not exceed a tension limit value determined on the basis of a traction quantity of the bending wire.