2 results about "Mass center" patented technology

The application provides a stacking machine anti-rollover control method, an electronic device, a storage medium and a program product. The method comprises the following steps: acquiring an operating state parameter of a vehicle, and calculating a center of mass position of the vehicle based on the operating state parameter; wherein the state parameter comprises a load weight and a load height; based on the center of mass position, a driving speed and a tire angle, calculating a rollover torque generated when the vehicle turns and a stable torque resisting rollover; when a steering action is detected, comparing the rollover torque with the stable torque; if the rollover torque is greater than or equal to the stable torque, dynamically limiting the hydraulic flow of a steering oil cylinder according to the current driving speed; based on the current tire angle, the center of mass height and the wheelbase of the vehicle, calculating a maximum allowable driving speed, and when the current driving speed is greater than the maximum allowable driving speed, controlling the driving motor to brake so that the vehicle is slowed down to not exceed the maximum allowable driving speed.

This invention belongs to the field of robot dynamics modeling and online parameter identification, and specifically discloses a method and system for online identification of load mass and center of mass in a dual-arm closed-chain handling scenario. The method includes: estimating joint friction torque based on the joint feature vectors under robot load conditions, and removing it from the measured joint torque under load conditions to obtain the friction-free joint torque, thereby obtaining the joint residual torque; introducing an internal force suppression regularization term through an internal force suppression coefficient to construct a contact force screw solution model; adaptively determining the internal force suppression coefficient based on the joint residual torque and solving the contact force screw solution model to obtain the net external force screw of the object; outputting the joint observation reliability based on the current joint state, propagating errors through closed-chain force mapping, and constructing a task space weight matrix; obtaining the load mass and center of mass position based on the task space weight matrix and the net external force screw of the object. This invention can achieve high-precision identification of load mass and center of mass position.