59 results about "Manipulator system" patented technology

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 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.

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 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 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 invention relates to the technical field of detection equipment, in particular to a force test equipment control system based on communication between an S-shaped force sensor and an upper computer, which is used for realizing digital detection of part insertion and extraction force and comprises an HMI (Human Machine Interface), a PLC (Programmable Logic Controller) system, a manipulator system, an S-shaped force sensor system, the upper computer and an executing mechanism, the S-shaped force sensor system is communicated with the upper computer through a cable in a Modbus RTU mode, the HMI interface, the manipulator system, the upper computer and the PLC system are communicated through a network cable in a Modbus TCP mode, and the PLC system is communicated with the execution mechanism through IO signals. According to the force testing equipment control system based on communication between the S-shaped force sensor and the upper computer, the defects that force values cannot be quantized, records are missing, testing consistency is poor and labor cost is high in traditional manual force testing are overcome, automatic and digital detection of the force testing procedure is achieved, testing precision is high, stability is high, and working efficiency is high. The method is suitable for plugging force detection scenes of various types of parts.

A method for evaluating measured values of projection lens (22) aberration(s) determined at plural field points in a field plane of the projection lens which has a plurality of optical elements (E1-E4) guiding exposure radiation and an optical element manipulator system (M1-M4) for carrying out a rigid body movement. The method includes: providing a fit function (62) having a polynomial function (64) that depends on the spatial coordinates defining a field plane and a rigid-body-sensitivities (70) term (66) for multiple locations in the field plane each describing a dependence of the aberration (63) on a degree of freedom of movement (68) at the relevant locations that is controllable by the manipulator system. The method further includes extrapolating the measured values (50) determined at the plural field points (52) to further field points (56) of the projection lens by fitting the fit function to the determined measured values.

This invention discloses a memory-based dynamic event triggering control method for a single-link robotic arm system based on spoofing attacks. The method first establishes a Markov model of the single-link robotic arm system based on Markov jump system theory, considering a system model with a general transition rate. Next, a mode-dependent memory controller is designed to overcome the influence of spoofing attacks and external disturbances on the system. A memory-based dynamic event triggering mechanism is also designed to reduce communication transmission frequency. Compared with existing memoryless event triggering schemes, this scheme utilizes a series of recently released signals and introduces a threshold function and an internal dynamic factor, which can automatically adjust according to the triggering error. Finally, vertex separator processing is introduced to address the uncertainty in the Markov transition rate. A mode-dependent state feedback controller is designed to control the stochastic stability of a single-link robotic arm system. When applied to a single-link robotic arm system, this method ensures the normal operation of the system under spoofing attacks and disturbances.

This invention belongs to the field of multi-agent cooperative intelligent control technology, specifically relating to a multi-manipulator cooperative control method for unknown disturbances. The method includes: establishing a dynamic model of a strictly feedback nonlinear multi-manipulator cooperative system; constructing the system's communication topology through a virtual coupling mechanism; building a unified system cooperative error model; introducing a preset time function and a globally preset performance function to map errors to an adjustable constraint performance space, ensuring dynamic convergence of all error signals within the user-defined performance range; designing task-level shape control forces and pose control forces within a distributed gradient descent framework to construct an overall task-level control force, driving the multi-manipulators to move cooperatively and maintain a stable formation in the task space; and designing a joint-level distributed adaptive control law under unknown disturbances using the passive characteristics of the nonlinear system. This invention enables multi-manipulator systems to achieve cooperative convergence and stable control within a preset time under unknown disturbances.

The invention relates to the technical field of robot control, and discloses an SMA flexible picking manipulator control method based on an attention mechanism and a neural network PID. Through multi-modal state sensing, adaptive filtering, dynamic attention weighting and parameter generation network modeling, the problem that a traditional PID controller cannot adapt to SMA nonlinear dynamic characteristics is solved. The method specifically comprises the steps that SMA state information is collected in real time, and a filtering window is dynamically adjusted to cover a 500ms hysteresis period; the attention mechanism network is used for detecting hysteresis saturation characteristics and compensating preferentially; constructing a parameter generation neural network to dynamically adapt to SMA nonlinear characteristics; designing a hardware amplitude limiting circuit in combination with physical constraints; and a multi-objective loss function and a two-stage optimization strategy are adopted to improve the control performance. According to the method, the position control precision and robustness of the SMA-driven flexible picking manipulator system are remarkably improved, and the method is suitable for the agricultural fields of fruit and vegetable picking, agricultural automatic operation and the like.

This invention provides a finite-time consistency control method for multi-manipulator systems with output constraints. Addressing the cooperative control problem of multi-manipulator systems with model uncertainties, external disturbances, and output constraints, this invention proposes a finite-time convergent adaptive control strategy based on a backstepping design framework, combined with an event-triggered mechanism and a fuzzy logic system. First, a dynamic model of the follower manipulator is established, and the synchronization state error is defined. Second, a cascaded Lyapunov function is designed to handle the output constraints, and the fuzzy logic system is used to approximate the model uncertainties. Third, an event-triggered mechanism is constructed to save communication resources, and control and adaptive laws are designed based on finite-time convergence theory. Simulation results show that the proposed method enables multiple manipulators to achieve high-precision trajectory tracking consistency within a finite time, with the tracking error strictly controlled within a minimal range. The control voltage always meets the output constraints, improving system safety and engineering applicability.

Systems, methods, and computer-readable storage media for gaze-guided control of a robot is provided. An example method includes receiving, from a headset, data associated with a gaze of a wearer of the headset. The method includes generating at least one motion profile based at least in part on the data associated with the gaze of the wearer and a gaze filter selection. The method further includes generating at least one command by applying an inverse kinematics algorithm to the at least one motion profile. The method further includes transmitting the at least one command to at least one manipulator of the gaze-controlled robot, where the at least one command triggers the at least one manipulator to move based at least in part on the at least one command.

This medical manipulator system comprises: a medical manipulator having a bendable part that can be bent; an actuator for bending the bendable part; a controller to which a bending operation for bending the bendable part is input; and a control device capable of controlling the actuator on the basis of the bending operation. The controller has a main body part and an input element having a touch surface that a user inputting the bending operation touches. The control device drives and bends the bendable part on the basis of the amount of movement from an origin in the input element. The touch surface includes: a first touch surface that is disposed at the origin when the bendable part assumes a reference orientation; and a second touch surface that is disposed at the origin when the bendable part is bent from the reference orientation, wherein the first touch surface and the second touch surface have surface shapes different from each other.

The utility model discloses a constant temperature water bath device and sample pre -treatment system, constant temperature water bath device includes water bath box and temperature control subassembly, and water bath box includes the box body of being equipped with inner chamber and the opening of a plurality of sleeves of setting upwards, and the inner chamber is used for injecting heat transfer agent, and the sleeve is worn in the inner chamber and is sealedly connected with the end face of box body, and the sleeve is used for setting sample tube and will heat transfer agent's temperature transfer to sample tube on, temperature control subassembly is connected on the box body and is used for through adjusting the temperature of inner chamber to make the liquid in sample tube keep constant temperature. The device can directly with manipulator system matching use carries out sample tube's taking and placing, improves the efficiency and degree of automation of sample storage and access, and can to sample tube high -efficient temperature control's while, make sample tube pass through the sleeve and the inner chamber isolation of box, avoid sample tube to cause the pollution of heat transfer agent, prevent sample tube cross -contamination and sample tube take out when the outer wall hang water. The device can integrate with other pre -treatment equipment, forms the complete sample pre -treatment system, and the scope of application is wide.

A sterile adapter (101) for a robotic surgical system (102) includes: a frame (103); a proximal coupling device (104) adapted to connect with a non-sterile robotic manipulator system (105); a distal cavity (106) adapted to connect with a surgical instrument (107) for robotic surgery on a patient's anatomy; a membrane (109) having a proximal non-sterile surface (110) and a distal sterile surface (111) opposite to the proximal non-sterile surface (110), the membrane (109) being located between the proximal coupling device (104) and the distal cavity (106), the membrane (109) being stretchable to transmit multiple pushing actions (112) from the proximal non-sterile surface (104) to the distal sterile surface (106), and the frame being rigid to transmit rolling actions.

The invention discloses a milligram group and gram group multiplexing type intelligent weight calibrating device. A three-axis sliding module system, a manipulator system, a weight station group, a weight to-be-calibrated station group, a mass comparator, a positioning protection system and an air density measuring instrument are all arranged in a protective cover and fixed on a damping platform; the mechanical arm system is installed on the three-axis sliding module system and used for carrying weights. The three-axis sliding module system is used for driving the mechanical arm to move in a three-axis mode. The weight station group is used for storing a to-be-detected weight, a standard weight and a counterbalance weight; the weight to-be-detected station group is used for temporarily placing a detected weight and a to-be-detected weight which are being detected; the mass comparator is used for weighing the mass of the weights and is in communication interaction with the upper computer; the positioning protection system is used for preventing the manipulator from colliding with the station or the quality comparator; the electric control cabinet is electrically connected with the three-axis sliding module system, the manipulator system, the quality comparator, the positioning protection system and the air density measuring instrument; and the upper computer is in communication connection with the electric control cabinet.

The invention discloses a manipulator system applied to screening of lipase activity inhibiting components in lotus leaves, and relates to the technical field of intelligent manipulators. The clamping manipulator is mounted on the base and is used for clamping the chromatographic column; the multi-purpose manipulator is positioned on the side of the clamping manipulator and is used for packing and sampling the chromatographic column; a controller; the camera is electrically connected to the controller and at least can shoot and output the vertical chromatographic column at a main view angle or a side view angle; the clamping manipulator is provided with at least one clamping jaw capable of rotating in a vertical plane, the multipurpose manipulator comprises a second movable arm, a rotating disc installed at the free end of the second movable arm, a material taking device installed on the rotating disc and a second rotation driving unit used for driving the rotating disc to rotate, and the material taking device is provided with a plurality of independent material taking pipes. The multiple material taking pipes are distributed around the center of the rotating disc. The method has the effect of improving the screening convenience and efficiency of the lipase activity inhibiting components in the lotus leaves.

The application discloses a kind of distributed time-varying state safety constraint control methods of multi-flexible manipulator system, process as follows: construct the dynamics model of 1 N Flexible manipulator with asymmetric time-varying state safety constraints and input quantization;Select the desired signal as a virtual leader, construct a multi-flexible manipulator system;Design trajectory planning function, construct desired tracking signal for each follower manipulator;Consider unknown time-varying disturbance, construct N Disturbance observer;Construct an asymmetric time-varying barrier Lyapunov function based on angle tracking error and convert it to symmetric form through coordinate transformation;Based on distributed observer, construct a distributed adaptive boundary controller;Solve the parameters of the distributed controller;Apply distributed time-varying state safety constraint control to the multi-flexible manipulator system.The application realizes distributed time-varying tracking and vibration control of multi-flexible manipulator system in the presence of asymmetric time-varying state safety constraints and input quantization.

System comprising an isolator (2) with a housing (20), a manipulator (3) arranged in the housing (20) and a control device (4) for controlling the manipulator (3), characterized in that the system (1) comprises an image acquisition device (5), wherein the image acquisition device (5) is arranged and configured to capture a control gesture of a person (7) located outside the housing (20) in a control zone (70), and wherein the control device (4) is configured to associate the captured control gesture with a control instruction for the manipulator (3) and to control the manipulator (3) according to this control instruction.

The invention provides a distributed multi-mechanical-arm competition cooperative control method based on neurodynamics self-adaption anti-interference. The distributed multi-mechanical-arm competition cooperative control method comprises the steps that position information, joint angle information and end effector position information of all mechanical arms in a multi-mechanical-arm system are obtained; the position information of a tracking target is obtained, and the Euclidean norm of the difference between the tail end controller of each mechanical arm and the tracking target is calculated to serve as input information; an optimal mechanical arm used for tracking a target is solved in real time by applying a self-adaptive anti-interference distributed controller based on neurodynamics; an optimal mechanical arm in the multi-mechanical-arm system is controlled to complete a target tracking task; the reliable control method is provided for competitive cooperative control of the multi-mechanical-arm system under the condition that noise is unknown, and the control efficiency and accuracy are effectively improved.

The present invention relates to a method for optically acquiring the features of an object, wherein the object is located at an object location and includes physical features in multiple dimensions, the object is optically accessible by an optical system, the optical system includes at least a first optical device with a first adjustable spatial filter for acquiring optical information along a first optical axis, a second optical device with a second adjustable spatial filter for acquiring optical information along a second optical axis, and an adjustment system capable of adjusting the acquisition angle between the first and second optical axes. The present invention further includes an operating device, an optical system, and operating the object with the operating system.

This medical manipulator system comprises: a medical manipulator having a bendable bending part; an actuator for bending the bending part; a controller that receives input of a bending operation for bending the bending part; and a control device capable of controlling the actuator on the basis of the bending operation. The controller can detect a first bending operation for bending the bending part by a bending amount corresponding to an operation amount of the bending operation, and a second bending operation for bending the bending part to a predetermined bending amount regardless of the operation amount. The control device controls the actuator on the basis of the operation amount of the first bending operation when the controller detects the first bending operation, and controls the actuator until the bending amount of the bending part reaches the predetermined bending amount when the controller detects the second bending operation.

This medical manipulator system comprises: a medical manipulator having a bendable bending part; an actuator for bending the bending part; a controller that receives input of a bending operation for bending the bending part; a detection part capable of detecting a predetermined initial operation indicating that a user is about to input the bending operation; and a control device capable of controlling the actuator on the basis of the bending operation. The control device executes first control for driving the actuator on the basis of the bending operation in an operation detection state in which the detection part detects the initial operation, and executes second control in which the bending part bends on the basis of an external force applied to the medical manipulator in an operation non-detection state in which the detection part does not detect the initial operation.

A case / tote / container / box manipulator 101 for use in an automated storage and retrieval system100, comprises a first location for at least one case 250, and a second location having a guiding me

The invention discloses a large-load man-machine cooperation truss manipulator for a bullet train bogie assembly line, and relates to the technical field of industrial robots and automatic assembly.The large-load man-machine cooperation truss manipulator comprises a truss supporting frame, fixedly-connected Y-axis moving assemblies are arranged at one end of the truss supporting frame, and the Y-axis moving assemblies are symmetrically distributed at the top end of the truss supporting frame; an X-axis moving assembly in sliding connection is arranged at one ends of the two Y-axis moving assemblies, a Z-axis mechanical arm moving assembly in movable connection is arranged on one side of the X-axis moving assembly, a servo driving motor is installed at one end of each Y-axis moving assembly, and the output end of each servo driving motor is connected with a rotating lead screw. According to the large-load man-machine cooperation truss mechanical arm system achieving force sensing guiding through the six-dimensional force sensor, when an operator applies thrust to a workpiece, the force sensor detects a force signal and transmits the force signal to the controller, the mechanical arm is controlled to do compliant motion in the force direction, and cooperative operation of manual guiding and machine follow-up is achieved.