10 results about "Maximal acceleration" patented technology

The embodiment of the application provides a robot control method, wherein the method obtains a plurality of sets of acceleration threshold values according to a load state of a robot; determines an acceleration management and control threshold value according to the plurality of sets of acceleration threshold values; determines an output force safety threshold value of a driver according to the acceleration management and control threshold value and the mass of the load; and obtains an acceleration threshold value of the robot according to a maximum acceleration, a minimum acceleration, an acceleration change rate threshold value and motion time in motion data; and controls the acceleration of the robot within the output force safety threshold value, thereby avoiding full-load operation of a servo motor driving the robot to transport and move when the acceleration setting exceeds a design threshold range, and avoiding wear of the robot caused by inertial force exceeding a design threshold value during deceleration, thereby shortening the service life of the robot; and avoiding unsaturated operation of the servo motor when the acceleration setting is less than the design threshold range of the equipment, thereby reducing production efficiency.

The invention relates to the technical field of intelligent key mechanical parts, in particular to a high-responsiveness servo electric cylinder control method and system, and the method comprises the steps: determining a maximum acceleration correction value; by comparing the difference between the maximum acceleration correction value and the maximum acceleration at the current moment, the necessity of S-type acceleration curve function reconstruction is judged, an S-type acceleration reconstruction curve function is obtained based on the Jerk control time, the maximum acceleration correction value and the maximum speed, the integral characteristics of the target S-type acceleration curve function are analyzed, and the target S-type acceleration curve function is obtained. And determining a target speed and a latest target position so as to control the speed and the position of the servo electric cylinder. According to the servo electric cylinder, the influence of variable working loads and environment conditions on the precision of the servo electric cylinder and the influence of rigidity difference of materials on the control responsiveness of the servo electric cylinder are solved, and the adaptability and the machining quality of the servo electric cylinder are improved.

The invention discloses a vehicle falling detection method and system, electronic equipment and a storage medium. The method comprises the steps that acceleration data are collected in real time in the riding process; sliding the sliding window to obtain acceleration data; calculating a maximum acceleration module value accmax and an acceleration median error accstd within a first set duration before the window is slid; the z-axis acceleration mean value acczm and the two-norm accxy of the acceleration component of the xy plane of the sliding window within the last second set duration are calculated; if accmax is larger than or equal to a set threshold value, or acczm is smaller than or equal to a first threshold value, accxy is larger than or equal to a second threshold value, and accstd is larger than a third threshold value; and if so, judging the vehicle falling state. According to the method, whether the vehicle is in the falling state is judged through the acceleration data, the falling state is accurately judged, falling accidents do not need to be reproduced, safety is high, data cost is low, and the technical problem that in the prior art, falling detection safety is poor is solved.

The application discloses a workpiece anti-slipping motion control method for a worktable of a video measuring instrument, and steps include presetting a control speed curve equation, respectively determining a corresponding acceleration curve equation and a displacement curve equation; based on a workpiece target moving distance, a preset moving speed and a maximum acceleration, simultaneously solving the speed curve equation and the acceleration curve equation, and solving unknown constant terms in the equation; using a grating ruler to obtain a real-time position of the workpiece, based on the solved control speed curve equation and the displacement curve equation, solving a motion time through a Newton iteration method; and substituting the motion time into the solved control speed curve equation to obtain an expected motion speed. The application can completely eliminate workpiece slipping, avoid setting a tool clamp and manual clamping, and effectively improve continuous measurement efficiency.

The invention discloses a method for slowly stopping and slowly starting an antenna with controllable acceleration, and relates to the field of electronic information. The method comprises the steps that firstly, antenna control software collects state feedback of a driver in real time through a CAN bus, the speed of the driver is calculated, and a driver speed variable of a corresponding shaft is assigned to serve as the current speed of the shaft; then acquiring an input target speed, directly outputting the speed or calculating the maximum acceleration according to an absolute value of a difference between the current speed and the target speed, and after entering a slow acceleration and deceleration function, performing slow acceleration and deceleration on the instruction speed according to a given function; and when the instruction speed reaches the target speed, the slow acceleration and deceleration processes are completed. The whole acceleration and deceleration process is smooth, and the acceleration is controllable; impact and noise are avoided in the process of acceleration and deceleration to the target speed.

An intelligent CTU rack and an anti-shake control method and apparatus therefor, and a terminal. The method comprises: acquiring a goods placement instruction for controlling the operation of an intelligent CTU rack, and on the basis of the goods placement instruction, controlling a retractable structure to clamp a rack body, wherein the goods placement instruction comprises an initial velocity, a terminal velocity and the maximum acceleration for the operation of the intelligent CTU rack; processing the initial velocity, the terminal velocity and the maximum acceleration, so as to obtain a velocity curve; and on the basis of the velocity curve, controlling the operation speed and operation time of the extension of a fork in the rack body, so as to obtain a goods release instruction when the fork in the rack body is extended in place. In the method, the retractable structure is first controlled, on the basis of the goods placement instruction, to clamp the rack body, so as to stabilize the rack body of the intelligent CTU rack, and then the operation speed and operation time of the extension of the fork in the rack body are controlled by means of the velocity curve, such that the fork in the rack body is extended in place, and thus impact forces generated during the extension and retraction of the fork in the intelligent CTU rack are both reduced.

The invention discloses a flexibility-adjustable S-shaped speed curve generation method and application of the flexibility-adjustable S-shaped speed curve generation method to a stacking machine system. The flexibility-adjustable S-shaped speed curve generation method comprises the following steps that the maximum acceleration, the initial speed and the target speed parameters of equipment in the acceleration stage, the constant speed stage and the deceleration stage are obtained; the flexibility value of the S-shaped speed curve in the equipment operation process is stipulated; the flexibility-adjustable S-shaped speed change module generates an S-shaped speed curve according to the parameters and the flexibility value of the equipment; the flexible adjustable S-shaped speed change module comprises an S-shaped acceleration module and an S-shaped deceleration module, and the S-shaped acceleration module and the S-shaped deceleration module respectively calculate speed curves of the equipment in an acceleration stage and a deceleration stage. The continuity and smoothness of the change of the generated S-shaped speed curve can be ensured, and the average acceleration or duration of the speed change stage can be adjusted, namely, the flexibility is adjustable.

A travel control device of a forklift according to the present disclosure detects a center-of-gravity position of the forklift including a cargo when the cargo is placed on a fork, acquires correspondence relationship information in which a lifting height indicating a position of the fork in a vertical direction, a reach length indicating a protrusion amount of the fork in a traveling direction, and an acceleration for positioning a zero moment point in a stable region are associated with each other, based on the center-of-gravity position, acquires the lifting height and the reach length, acquires an allowable acceleration from the correspondence relationship information based on the lifting height and the reach length that are acquired, acquires a target reach length from the correspondence relationship information based on the lifting height and a maximum acceleration when the allowable acceleration is less than the maximum acceleration, drives the cargo handling device such that the reach length is the target reach length, and accelerates the forklift at an acceleration greater than the allowable acceleration when the reach length is the target reach length.

The maximum excitation force can be easily estimated based on the measured acceleration. [Solution] The method includes an acceleration measurement step for measuring the acceleration of a vibration-isolating floor 3 provided on a support structure 2 via a support spring 4 with its spring axis oriented vertically; a maximum acceleration calculation step for determining the maximum acceleration from the time series of accelerations; a primary natural frequency calculation step for determining the primary natural frequency from the Fourier spectrum of accelerations; a transfer function calculation step for determining the transfer function from the input excitation force of the vibration-isolating floor to the response acceleration; and a maximum excitation force calculation step for calculating the maximum excitation force from the maximum acceleration, primary natural frequency, and transfer function.

A method for computing robot motion where the tool center point translational acceleration does not exceed a defined limit. Robot motion for an upcoming segment of a trajectory is computed using a known “S-curve” technique, where joint motions are calculated which move the robot from a start pose to an end pose in the shortest time given maximum joint velocity, acceleration and jerk values. Significant points on the S-curve are identified which correspond with maximum translational acceleration of the tool center point. Tool center point Cartesian motion is then calculated from the joint motions using forward kinematics. The maximum translational acceleration of the tool center point is determined and compared to the defined acceleration limit. If the maximum acceleration of the tool center point exceeds the acceleration limit, the joint motions for the trajectory segment are re-calculated using a scale factor which reduces the joint and tool center point accelerations.