18 results about "Maximal acceleration" patented technology

The invention relates to the technical field of machine tools, and provides a machine tool control method and system, a controller, a machine tool and a storage medium, and the machine tool control method comprises the following steps: obtaining a coordinate value of a spindle box in the vertical direction, and judging whether the current coordinate value is located in a first height interval or a second height interval and a set first function relation; if the current coordinate value is located in the first height interval, the acceleration of the stand column in the moving process is set to be a preset fixed value, and the absolute value of the preset fixed value is not larger than the absolute value of the maximum acceleration allowed by the machine tool; if the current coordinate value is located in the second height interval, the current vertical distance is calculated, and the acceleration of the stand column in the moving process is set based on the current vertical distance, the reference vertical distance, the first function relation and the preset fixed value. According to the machine tool control method, the balance of high movement acceleration and high rigidity of the machine tool can be relatively better.

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 application discloses a multi-axis time synchronization S-shaped trajectory planning algorithm, and belongs to the field of robot running trajectory algorithm. The original trajectory is properly modified, so that the multi-axis motion time is synchronized, and the problems that the robot speed, acceleration or motor torque may exceed the allowable range of the motor due to the dynamic saturation limitation of the motion system are solved. The application mainly comprises the following steps: judging whether the maximum acceleration can be reached; judging whether there is a uniform speed section; judging whether the maximum acceleration and deceleration of the acceleration section and the deceleration section can be reached; 6-axis motion time adjustment: setting the new motion time of the remaining 5 axes as the longest motion axis time; and synchronously scaling the 6-axis time by using the redefined parameters of each axis in step S2, and re-planning the joint motion trajectory. The application is mainly used for the S-shaped trajectory planning of multi-axis time synchronization of a robot.

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 invention belongs to the technical field of magnetic suspension motion control methods, and particularly relates to an S-shaped curve planning method for minimizing the maximum speed and the maximum acceleration. A displacement stroke threshold value is solved according to the parameters, whether the displacement stroke threshold value is smaller than a given total stroke or not is judged to determine whether a first T-shaped curve or a triangular curve is used, and the shortest time of each curve under the acceleration threshold value and the speed threshold value is solved; respectively judging the relationship between the shortest time and the given total time; under the first T-shaped curve, the maximum acceleration is selectively reduced or the maximum speed is firstly reduced and then the maximum acceleration is reduced according to the relation between the first difference value and the duration time of the first maximum speed; if the shortest time under the triangular curve is smaller than the given total time, the maximum speed is reduced, the triangular curve is changed into a second T-shaped curve, then the maximum acceleration is reduced, and a four-section mode or a six-section mode is adopted; and a distribution coefficient alpha is input, a speed curve which meets the requirement and is more stable is determined according to whether the alpha is smaller than a threshold value under each condition, and the energy consumption of the system is lower.

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.

The invention discloses a method for multi-axis robot tool center point acceleration limitation and an industrial robot system with tool center point acceleration limitation. For an upcoming trajectory segment of robot motion, known "S-curve" techniques are used for calculation where articulation motions, given maximum articulation velocity, acceleration, and jerk values, are calculated that cause the robot to move from a starting pose to an ending pose in the shortest time. Salient points on the S-curve are identified, which correspond to the maximum translational acceleration of the tool center point. The Cartesian motion of the tool center point is then calculated from the articulation motion using forward kinematics. A maximum translational acceleration of the tool center point is determined and compared to a defined acceleration limit. If the maximum acceleration of the tool center point exceeds the acceleration limit, the joint movement of the trajectory segment is recalculated using a scale factor that reduces the joint and tool center point acceleration.

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.

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.

Systems, methods, and computer program products for determining a tilt of a wind turbine tower (12) based on acceleration measurements from an accelerometer (50) operatively coupled to a nacelle (14) of a wind turbine (10). Acceleration data is collected from the accelerometer (50) configured to sense acceleration along accelerometer axes (x, y, z) while the nacelle (14) is in each of a plurality of yaw positions. The nacelle (14) is rotated stepwise to each yaw position and stopped for a period of time. Acceleration data is collected while the nacelle (14) is stopped and a static acceleration level along the accelerometer axes (x, y, z) caused by gravity (28) is determined. Once acceleration data has been collected at each position, minimum and maximum acceleration levels can be identified. A tilt of the tower (12) is then determined based on the minimum and maximum acceleration levels.

Method for calculating robot motion where the translational acceleration of the tool center does not exceed a defined limit. Robot motion for a given segment of a trajectory is calculated using a well-known "S-curve" technique, whereby joint movements are calculated that move the robot from a start position to an end position in the shortest time for given maximum velocity, acceleration, and jerk values ​​of the joint. Significant points on the S-curve are identified that correspond to maximum translational acceleration of the tool center. Cartesian motion of the tool center is then calculated from the joint movements using forward kinematics. The maximum translational acceleration of the tool center is determined and compared to the defined acceleration limit.If the maximum acceleration of the tool center exceeds the acceleration limit, the joint movements for the trajectory segment are recalculated using a scaling factor that reduces the accelerations of the joint and tool center.

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.

The application relates to an intelligent CTU shelf and a jitter prevention control method, device and terminal thereof. The method comprises the following steps: obtaining a goods placing instruction for controlling the operation of the intelligent CTU shelf; and controlling a telescopic structure to clamp a shelf body according to the goods placing instruction. The goods placing instruction comprises an initial speed, a final speed and a maximum acceleration of the operation of the intelligent CTU shelf. The initial speed, the final speed and the maximum acceleration are processed to obtain a speed curve. The running speed and the running time of the fork extension in the shelf body are controlled according to the speed curve to obtain a goods release instruction for the fork extension in the shelf body. The method controls the telescopic structure to clamp the shelf body according to the goods placing instruction to stabilize the shelf body of the intelligent CTU shelf, and then controls the running speed and the running time of the fork extension in the shelf body according to the speed curve to make the fork extension in the shelf body reach the position, so that the impact force generated during the fork extension and retraction of the intelligent CTU shelf is reduced.