117 results about "Manipulator system" patented technology

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 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 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.

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.

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.

Systems and procedures for determining the task-based use of instruments and repositionable structures are described. The system can include one or more repositionable structures operationally coupled to one or more instruments, and a control system operationally coupled to the one or more repositionable structures, wherein the control system is configured to receive a plurality of data streams from one or more data sources and to analyze the data streams in order to identify a task to be performed.to determine, based on the task to be performed and using a machine learning model for actor selection, one or more selected instruments for carrying out the task or a selected repositionable structure of the repositionable structures; to generate, using a machine learning model for robot actions, one or more action tokens for controlling the repositionable structures based on the task and the selected instrument or repositionable structure; and to control the selected instrument or repositionable structure to perform the task.

To provide a driving device or the like of a medical manipulator capable of sensing torque of a motor for driving the medical manipulator and facilitating replacement of the motor.SOLUTION: A driving device for a medical manipulator includes a housing, a motor having a driving shaft that rotates in a circumferential direction and drives the wire, a support member that supports the motor, a first coupling portion that is fixed to the housing, a second coupling portion that is detachably coupled to the support member, and a strain body including a strain generation portion provided between the first coupling portion and the second coupling portion, and a strain sensor disposed in the strain generation portion. The second connection portion fixes a relative position with the support member in the circumferential direction when the support member is mounted.SELECTED DRAWING: Figure 11

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.

To provide novel systems and methods for a robotic manipulator arm deployment and control system.SOLUTION: The system comprises at least a vertical mast, a mast deployment system comprising at least two cams, an elbow, an arm operable to deploy tools, one or more sensors including a non-contact sensor and a dynamic measurement unit. The cams cause the vertical mast and the arm to remain vertical during deployment into an operating space. The non-contact sensor may be used for measuring the range and bearing to objects in the operating space in polar coordinates. The dynamic measurement unit comprises accelerometers and rate sensors and is configured as a six degree of freedom three axis sensor operating in a Cartesian coordinate system. The system further comprises a controller operable to receive the polar and Cartesian coordinates from the sensors and convert them into a Cartesian coordinate system.SELECTED DRAWING: Figure 1

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 medical manipulator comprises: a manipulator flexible section that extends in the longitudinal direction; and two arms disposed at the tip end of the manipulator flexible section. The two arms are arranged in a left-right direction perpendicular to the longitudinal direction. Each of the two arms includes a second bending part. As a result of the second bending parts bending, the tip ends of the second bending parts of the two arms are separated in the left-right direction.

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 discloses a beneficial disturbance perception-oriented pneumatic artificial muscle manipulator control method and system, and belongs to the technical field of pneumatic system control, and the method comprises the following steps: constructing a nonlinear kinetic model of a pneumatic artificial muscle manipulator system according to a three-element model of pneumatic artificial muscle and a kinetic equation of a manipulator, defining an angle error and an angular velocity error when the manipulator moves; a nonlinear controller based on beneficial disturbance perception is constructed by taking the control targets that the motion angle of the manipulator reaches an expected position and the tracking angle error converges to 0 and considering unknown dynamic state and external disturbance in the system; and according to the angle, obtained through actual measurement, of the manipulator during movement, the constructed nonlinear controller is used for determining the input air pressure of the pneumatic artificial muscle so as to drive the manipulator to move. Accurate and efficient angle tracking control of the manipulator under external disturbance can be achieved, and stable and efficient operation of the system is guaranteed.

The invention relates to a manipulator system for laparoscopic extrauterine hysterectomy, which comprises two main parts: a first part (I), which is an abdominal part comprising an adjustable manipulator having a detachable adjustable handle at the end thereof for holding and manipulating the uterus inside the uterine cavity; and a second part (II), which is a vaginal part inserted into the patient's vagina and formed by a cup, a plastic tube and a suction element, the second part allowing the CO2 gas pneumoperitoneum to be contained once the upper part of the vagina is incised. The system solves issues relating to the complexity of use and the costs associated with current manipulators.

The utility model discloses a truss manipulator and relates to a manipulator. The truss manipulator system aims to solve the problems that an existing truss manipulator system adopts a single guide rail for guiding and is poor in weighing capacity and stability in actual use. The device comprises a walking mechanism, a suspension, a suction cup assembly, a synchronous hydraulic cylinder assembly, two rails and four stand columns. The two rails are arranged side by side in parallel, the two ends of each rail are fixedly connected with the ground through the two stand columns, the walking mechanism is installed on the two rails, the upper end of the suspension is connected with the walking mechanism, the synchronous hydraulic cylinder assembly is installed at the lower end of the suspension, and the suction cup assembly is connected with the telescopic end of the synchronous hydraulic cylinder assembly. The utility model belongs to the field of machinery.

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.