111 results about "Mobile manipulator" patented technology

The invention discloses a decoupling motion control method and system for a four-footed mobile operation robot considering the acting force of a mechanical arm, and belongs to the field of motion control of foot type mobile operation robots. An expected motion track input by a user can be tracked by performing planning through linear model prediction control MPC; on the basis of the tracked motion trail, mechanical arm joint control torque is calculated through a mechanical arm dynamic model and PD feedback; through nonlinear model predictive control NMPC planning, a quadruped robot whole-body motion trail of mechanical arm acting force obtained through calculation according to a mechanical arm dynamic model is considered, and an expected speed trail and an expected force trail input by a tracking user are obtained; and according to an expected speed trajectory and an expected force trajectory input by a tracking user, a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque for tracking the expected trajectory according to task priorities. According to the method, the acting force / torque of the mechanical arm to the robot body is considered during motion control of the quadruped robot, and decoupling control over the mechanical arm and the quadruped robot in the quadruped mobile operation robot is achieved.

The invention belongs to the technical field of robot control, and discloses a visual servo intelligent robust control method for a mobile mechanical arm for a complex operation task, which comprises the following steps of: 1, acquiring a working scene image, and calculating a space coordinate of a target feature point in real time through a projection transformation model; step 2, dynamically inhibiting visual measurement noise by adopting adaptive Kalman filtering, generating a feedforward compensation signal through an integral sliding mode observer, and decoupling chassis slippage disturbance; step 3, inputting the pose signal into a radial RBF neural network, designing an RBF gain scheduler, and adjusting an output proportion-integral gain in real time to suppress external time-varying disturbance; 4, adopting a hybrid visual servo mode switching mechanism, and generating a mobile platform control instruction through an integral sliding mode surface in a position servo mode; and 5, designing a three-order composite controller to drive the mechanical arm so as to realize accurate grabbing. According to the method, the grabbing deviation caused by kinematics uncertainty of the mobile platform and dynamic environment disturbance is eliminated.

The invention discloses a dynamic obstacle avoidance method for a mobile manipulator based on visual perception and null-space control, which comprises the following steps: dynamically adjusting the weight distribution of the movement of a mobile platform and the movement of the manipulator in a whole task based on real-time environment perception information and the real-time movement state of the mobile manipulator; the method comprises the following steps: detecting an obstacle in a working environment in real time through a visual perception module, and predicting a movement track of the obstacle in combination with a Transform network model based on a graph structure; according to the real-time position and the predicted track of the obstacle, motion parameters are dynamically adjusted, and a speed potential field function model associated with the shortest distance between the obstacle and the mobile mechanical arm is designed by adopting a speed potential field method; according to the method, the rejection speed of an end effector is introduced to compensate the interference of an obstacle on the end effector, and the rejection speed is combined with the expected speed of the end effector and the obstacle avoidance guiding speed obtained by solving through a speed potential field method, so that dynamic obstacle avoidance of the robot in the process of executing a set task is realized; and the task execution path is optimized while the obstacle is effectively avoided.

The invention discloses an automatic mounting mechanical arm for a tunnel pipeline. According to the core scheme, the automatic mounting mechanical arm comprises a walking track mechanism, a manipulator mechanism, a pipeline clamp mechanism and a pipeline butt joint compensation mechanism. The walking track mechanism is used for driving the mechanical arm mechanism to move in the tunneling direction and the section horizontal direction, the mechanical arm mechanism comprises at least one set of mechanical arms with a single-action / linkage control mode and is used for grabbing a to-be-installed pipeline and adjusting the space posture, and the pipeline clamp mechanism is arranged at the tail end of the mechanical arms. And the pipeline butt joint compensation mechanism is used for achieving flexible clamping and rigid locking of the pipeline, and the pipeline butt joint compensation mechanism is used for compensating the posture error of the butt joint position of the pipeline to achieve accurate alignment of the flange. Full-automatic grabbing, transferring, positioning and butt joint of pipelines in a tunnel can be achieved, the pipeline installation efficiency and butt joint precision are greatly improved, the manual operation intensity is reduced, and the robot is suitable for various pipeline installation working conditions of shield construction and high in universality.

The invention discloses an intelligent transfer and multi-station cooperative assembly system and method for sheet pipe truss machining. The intelligent transfer and multi-station cooperative assembly system comprises an electromagnetic rail, and an AGV trolley is movably connected to the electromagnetic rail; a truss transferring manipulator and a truss moving manipulator; the shot blasting machine is used for carrying out shot blasting treatment on the rod piece; the truss boxing robot is used for carrying out boxing treatment on the rod pieces subjected to shot blasting treatment; and the forklift robot is used for conveying the rod pieces on the AGV trolley at the material receiving station to the joist barrow, and the rod pieces are conveyed to the assembling station, the welding station, the polishing and shape adjusting station and the paint shed through the joist barrow. According to the invention, the closed-loop assembly line work of cutting-cleaning-transportation can be realized, rhythm faults caused by manual intervention are reduced, the overall productivity is improved, the forklift robot can accurately receive the rod pieces transported by the AGV and convey the rod pieces to a material receiving station, the traditional material transfer and stockpiling time is eliminated, and the production cycle is shortened.

A robot comprises a mobile base, a robotic arm operatively coupled to the mobile base, and at least one interface configured to enable selective coupling to at least one accessory. The at least one interface comprises an electrical interface configured to transmit power and / or data between the robot and the at least one accessory, and a mechanical interface configured to enable physical coupling between the robot and the at least one accessory.

The utility model provides a four-axis truss, and relates to the technical field of four-axis trusses. Positioning blocks are fixedly mounted at the upper ends of the two ends of the fixed cross beam respectively; and a first drag chain is mounted on the front side wall of the fixed cross beam. The position of the movable longitudinal beam is firstly adjusted left and right, then the position of the movable longitudinal beam is adjusted front and back, then the position of the adjusting beam is moved up and down, meanwhile, the position of a connecting shaft below the adjusting beam can also move along with the adjusting beam, the manipulator clamp can move front, back, left, right, up and down, and the position of the clamp can be accurately adjusted through movement in six directions (X / Y / Z axis translation). The four-axis truss is suitable for objects of different shapes and sizes, is particularly suitable for grabbing in complex arrangement or narrow space, and solves the problem that the position of a manipulator clamp on the four-axis truss needs to be automatically adjusted due to the fact that the four-axis truss mostly adopts a fixed guide rail layout and the placement positions of the objects are different, otherwise, the manipulator clamp cannot stably clamp the objects below.

The utility model relates to a pull buckle jig value board machine which comprises a working table, a conveying rail is arranged on the upper side of the working table, a feeding conveying belt is arranged, the feeding conveying belt is used for inputting no-load tools, a PCB material frame is arranged, and a PCB positioning disc is used for placing PCBs and positioning the PCBs. The feeding manipulator is used for moving the PCB from the material rack to the PCB positioning disc; the steel sheet platform is used for placing a steel sheet; the moving manipulator is used for moving the positioned PCBs to the no-load tool position of the feeding conveying belt; the method comprises the following steps: arranging a steel sheet platform, moving a steel sheet at the position of the steel sheet platform to a no-load tool position, arranging a PCB positioning disc, taking out a PCB from a PCB rack, firstly placing the PCB in the PCB positioning disc for positioning, and then moving the PCB to the no-load tool position through a moving manipulator, so that the positioning accuracy is high when the PCB is placed on the no-load tool without a visual detection structure, and the positioning accuracy is high. And meanwhile, a visual detection structure is not needed, and certain production efficiency can also be improved.

A system includes: one or more memories; and one or more processors configured to, acquire three-dimensional data of an environment at a first timing; extract a plurality of pieces of motion data from the one or more memories, the motion data including the target end-effector position and attitude and a swept volume that does not contact the environment; start the task based on first motion data, the first motion data being one of the extracted pieces of motion data; when determination is made that the mobile manipulator comes into contact with the environment, extract, as second motion data, motion data including a swept volume that does not contact the environment based on the three-dimensional data acquired in real time; and generate a transition trajectory for transitioning from a trajectory of the first motion data to a trajectory of the second motion data.

A robot system includes: a mobile manipulator that has a mechanism for moving on a floor and a mechanism for holding an object; a workbench robot that is fixed to a workbench and that has a mechanism for holding an object on the workbench; and a controller that controls an operation of each of the mobile manipulator and the workbench robot, in which the controller causes the workbench robot and the mobile manipulator to perform a passaging process of cells, the passaging process including conveyance and installation of a container containing the cells between the workbench and another experimental facility.

An energy harvesting system is disclosed including a plurality of beams connected to form a structural frame, and a plurality of solar concentrator panels mounted on the structural frame to provide a solar concentrator array for reflecting solar radiation onto a plurality of receiver tubes configured to transport a heat transfer fluid to be heated. The beams are configured to support a mobile manipulator for travel along the structural frame for performing at least one operation on the array. A mirror apparatus used in a solar concentrator panel is also disclosed and includes an elongate thin-walled closed structural beam, and a mirror extending along and mounted to a surface of the closed structural beam in a transversely deformed condition to cause the mirror to have a transverse curvature that is selected to focus the solar radiation onto a receiver tube.

This invention discloses a method and apparatus for planning the end-effector path following configuration of a mobile robotic arm based on convex set graph optimization and penalty function constraints. The planning method includes the following steps: S1: After generating the reachability graph of the robotic arm, the reachability graph is projected onto the base plane of the robotic arm to generate the inverse reachability graph of the robotic arm; S2: Based on the inverse reachability graph and the end-effector target path of the robotic arm, the feasible configuration set of the mobile chassis corresponding to each end-effector target path point is solved; S3: Based on the feasible configuration set of the mobile chassis, the feasible configurations of the mobile chassis are initially planned to obtain the initial configuration sequence of the mobile chassis; S4: The initial configuration sequence of the mobile chassis is secondarily planned to obtain the optimal configuration sequence of the mobile chassis; S5: Based on the optimal configuration sequence of the mobile chassis, the end-effector target path, and the motion relationship between the mobile chassis and the end-effector of the robotic arm, the complete configuration sequence of the mobile robotic arm is calculated.

The utility model relates to automatic tapping equipment for a water tank, which comprises a machine table, a three-axis moving manipulator, a reciprocating conveyor belt, a drilling main shaft module and a polishing main shaft module, and is characterized by further comprising three groups of positioning and fixing modules and three groups of overturning modules, a positioning and fixing module, an overturning module, a positioning and fixing module and a positioning and fixing module are sequentially and transversely arranged on the machine table at equal intervals, three-axis moving manipulators are arranged on the side edges of the three positioning and fixing modules, and a drilling main shaft module, a drilling main shaft module and a grinding main shaft module are sequentially arranged on the corresponding three-axis moving manipulators. The reciprocating conveying belt is located in front of the three sets of positioning and fixing modules and the overturning module, four sets of feeding discs are arranged on the reciprocating conveying belt, the whole structure is simple, only one person is needed for placing the water tank and collecting the water tank after the water tank is completed, the labor cost is greatly reduced, and automatic machining of the water tank is achieved.

The present application relates to visual robot automatic welding technical field, specifically a kind of laser visual guidance robot automatic welding hand-eye calibration method, including steps (1) design a three-dimensional calibration board with three calibration points, determine welding model;Step (2) according to the calibration point and the welding model, the calibration of the transformation matrix between the calibration board coordinate system and the robot base coordinate system is carried out;Step (3) moves the robot to collect the linear laser calibration line projected on the three-dimensional calibration board by linear laser sensor, obtains calibration feature points, completes hand-eye calibration.This method is simple in operation, and calibration precision is higher, is suitable for on-site rapid calibration, fully meets the precision requirement of automatic guidance welding.

The application belongs to the technical field of mobile manipulator scanning planning, and discloses a mobile manipulator online scanning planning method and system for unknown environment, which comprises the following steps: obtaining candidate chassis target poses according to a two-dimensional occupancy grid map and environment update results; evaluating the candidate chassis target poses to obtain effective targets; the candidate chassis performs trajectory tracking on the effective targets according to a planned path, and simultaneously monitors the path and the targets; if the path is blocked or the targets are invalid, the candidate chassis target poses are reacquired; when the chassis reaches a specified area, scanning positions are selected from candidate observation viewpoints, and it is determined whether the scanning positions are within the working range of the manipulator; if the scanning positions are within the working range of the manipulator, the scanning positions are scanned by the manipulator, so that the scanning coverage integrity, the spatial exploration efficiency and the task execution success rate in a complex environment are improved, and repeated scanning and redundant motion are reduced.

The application discloses a kind of self-adaptive balancing device, method and storage medium of mobile mechanical arm, it is related to mechanical arm balance control technical field.Device includes: balancing device and control system;Balancing device is arranged on the mobile chassis of mobile mechanical arm, for adjusting the balance state of the mobile mechanical arm;Control system is used to calculate the center of gravity position of mobile mechanical arm in real time according to multi-axis mechanical arm mass data, balancing device mass data, mobile chassis mass data and mobile chassis inclination data, when judging that the center of gravity position of mobile mechanical arm deviates from preset operation range, timely control balancing device adjusts the center of gravity position of mobile mechanical arm, ensure that mobile mechanical arm is in balanced state.

Consistent connection strategies for coupling accessories to a robot can help achieve certain objectives, e.g., to tolerate and correct misalignment during coupling of the accessory. In some embodiments, the connection strategy may enable certain accessories to connect to certain sides of a robot. When connected, an accessory may be rigid in yaw, lateral motion, and fore / aft motion, while remaining unconstrained in roll and pitch as well as vertical motion. A sensor may enable detection of the accessory, and a mechanical fuse may release the accessory when a force threshold is exceeded. A mechanical coupler of an accessory may include two connectors, each of which includes a receiving area configured to receive a pin on the robot and a latch configured to retain the pin within the receiving area. The pins (and the receiving areas) may be differently sized, and may be differently arranged.

The present application provides a curtain wall mounting robot, a position control method, and a storage medium. The position control method comprises the following steps: achieving equivalence between a mobile base component and a manipulator component by adding virtual joints, and establishing an overall kinematic model; assigning priorities to different execution tasks in the overall kinematic model to form a first-priority task and a second-priority task, wherein the first-priority task has a higher priority than the second-priority task; upon completion of the first-priority task, scheduling the second-priority task on the basis of a null-space strategy; and performing motion control calculation by means of the overall kinematic model having undergone scheduling, and outputting control data to implement coordinated control between the mobile base component and the manipulator component. The present application solves the problems in the prior art of being unable to implement coordinated control between a manipulator component and a mobile base component and failing to sufficiently exploit the advantages of the redundancy characteristics of a mobile manipulator due to the use of hierarchical control.

The invention relates to a mobile mechanical arm hand-eye calibration method and device and computer equipment. The method comprises the steps that under the condition that a movable chassis of a movable mechanical arm moves to a preset target position, the mechanical arm tail end of the movable mechanical arm is controlled to move into the view field range of an external camera, and a calibration object is fixed to the mechanical arm tail end; acquiring first pose data of the tail end of the mechanical arm relative to the mobile mechanical arm base and second pose data of the calibration object in a camera coordinate system of the external camera, and performing hand-eye calibration on the mobile mechanical arm base and the external camera according to the first pose data, the second pose data and a preset pose transformation relation, the preset pose transformation relation represents the transformation relation between the coordinate system of the calibration object and the coordinate system of the tail end of the mechanical arm. By adopting the method, the hand-eye calibration precision can be improved.

The application provides a mobile manipulator grasping pose planning method and device, the method comprising: determining a target object grasping feasibility map; performing grid discretization processing on the feasibility map to obtain a plurality of grids; determining manipulator joint restriction constraint coefficients, obstacle safety restriction constraint coefficients and operation stability restriction constraint coefficients of all poses of each grid; calculating the hybrid operability of each pose of each grid; selecting the maximum value of the hybrid operability of each pose in the grid as the hybrid operability index of the grid, obtaining an evaluation index set of all grids, selecting the grid corresponding to the maximum value in the evaluation index set as the optimal mobile chassis position of the mobile manipulator, and the pose corresponding to the hybrid operability in the grid is the optimal grasping pose of the manipulator load of the mobile manipulator. The application realizes more flexible grasping operation of the manipulator through the hybrid operability and completes the obstacle avoidance function.

This utility model discloses a vision-based mobile robotic arm precision docking device, which includes a walking mechanism, a docking robotic arm, a vision positioning mechanism, and an execution mechanism. The walking mechanism can move to the pick-up / placement station or docking station according to a preset path. The execution mechanism is used to pick up or release the workpiece to be docked. The docking robotic arm is used to drive the execution mechanism to the pick-up / placement station to pick up the workpiece to be docked. The vision positioning mechanism is used to acquire the three-dimensional spatial position information of the workpiece to be docked. The vision positioning mechanism is also used to acquire the three-dimensional spatial position information of the docking fixture during docking. By integrating the walking mechanism, docking robotic arm, vision positioning mechanism, and execution mechanism together, the docking robotic arm can drive the execution mechanism to perform workpiece pick-up and release operations. The vision positioning mechanism can acquire the three-dimensional spatial position information of the workpiece and the docking fixture, realizing automated precision docking with high positioning accuracy and good docking flexibility.

The application discloses a mobile manipulator control method and device based on online learning and fuzzy neural dynamics, and relates to the technical field of mobile manipulator control. The method comprises the following steps: acquiring an actual pose of an end effector, a desired pose trajectory and joint speed; introducing an excitation signal formed after superimposing random noise, updating a current Jacobian matrix estimation value of the mobile manipulator; inputting each data into a fuzzy neural dynamic solver; the fuzzy neural dynamic solver is configured to take a quadratic form as an optimization objective, take a differential kinematics tracking equation as an equality constraint, and take a non-convex feasible region as an inequality constraint; and finally outputting a control signal of the joint speed obtained by solving the fuzzy neural dynamic solver to drive the mobile manipulator to move. The application solves the technical problems of low control precision of the mobile manipulator under the conditions of parameter uncertainty and non-convex constraints without an accurate prior model, and realizes high-precision model-free pose control.

The application belongs to the field of robot motion planning and trajectory optimization, and discloses a mobile manipulator space-time trajectory comprehensive performance optimization method based on improved NSGA-III. The method comprises the following steps: step 1, mobile manipulator initial path generation; step 2, trajectory space-time parameterization representation; step 3, multi-objective function establishment, adding specific task constraints, in order to generate smooth, safe and dynamic constraint trajectories for the mobile manipulator to complete specific tasks; step 4, improved NSGA-II algorithm is used to realize trajectory optimization. The method can realize efficient optimization by directly controlling the road point and time through space-time trajectory representation method, reduce the calculation cost in the optimization process, and overcome the difficulty in seeking the optimal solution caused by nonlinearity by using the intelligent optimization algorithm for the multiple targets of obstacle avoidance, path smoothness, dynamic constraint and time optimization of the high-degree-of-freedom mobile manipulator.

The invention relates to the technical field of automatic spraying, and provides an automatic spraying device for automobile parts, the automatic spraying device comprises a rotating table, a placing disc and a center opening mechanism, the rotating table is rotatably arranged on the side of a spraying manipulator, and the center opening mechanism can support the parts in the center of the parts; the movable manipulator can drive the parts to move through the center opening mechanism, a butt joint pin is arranged at the bottom of the center opening mechanism, the first butt joint hole and the second butt joint hole are detachably connected with the butt joint pin, a plurality of opening assemblies are circumferentially arranged on the butt joint pin, and the opening assemblies can be opened in the direction away from the butt joint pin. And a plurality of grooves used for movement of the opening assembly are formed in the placing disc, so that the technical problems that in the prior art, when the disc part is sprayed, the part is prone to being placed unstably, and the universality of a supporting part is low are solved.

Provided is a teaching device for a mobile manipulator based on a mobile robot and a collaborative robot. The teaching device includes a communication unit that transmits / receives data to and from the mobile manipulator, a memory that stores a program providing an interface for performing a task of the mobile manipulator, and a processor that operates a teaching program that performs map creation and autonomous setting for the mobile robot, and setting necessary for robot manipulation for the collaborative robot on the same interface.

This application relates to the field of automated intelligent control technology, and discloses an intelligent control method and system for a solid glue inserting manipulator. The method includes: setting a first distance sensor above the manipulator; moving the manipulator according to preset control parameters and dynamically measuring and generating a distance change curve; after moving for a preset time, comparing the overlap between the distance change curve and a reference change curve in real time, and determining that the target position has been reached when they are completely overlapped; controlling the manipulator to grasp solid glue and transfer it to the target hole, recording the first time for each completed cycle; setting a second distance sensor in the solid glue placement area to obtain a second distance between the solid glue and a fixed position, calculating the second time based on the conveyor belt speed, and adjusting the manipulator's operating parameters based on the first and second times. This invention can solve the problems of positioning deviation and conveyor cycle mismatch caused by mechanical wear, and can also achieve high-precision grasping and energy-efficient cycle balance, improving product production efficiency.

The invention discloses a control method and device for an intelligent spraying robot, a terminal and a storage medium, and the method comprises the steps: receiving a preset route sent by a navigation module and a water spraying positioning coordinate located on the preset route, and the navigation module comprises a GPS and a laser radar; a first driving instruction is sent to the crawler-type chassis according to the received preset route; receiving image information transmitted by the plurality of visible spectrum cameras and the plurality of invisible spectrum cameras; the spraying area and the spraying height are judged according to the received image information; transmitting a first spraying instruction to a motor for controlling a water pump to work, wherein the motor controls the pressure of the water pump and further controls the spraying area of a nozzle; and the first height adjusting instruction is transmitted to the multi-joint-freedom-degree moving manipulator, and the height of the spray head at the end is controlled by the multi-joint-freedom-degree moving manipulator. The problem that in the prior art, automatic water spraying operation is difficult to conduct according to different growth states and water requirements of plants is solved.

An obstacle avoidance system and real-time obstacle avoidance method for a mobile manipulator. A first embedded platform is used for acquiring first sensing data which is outputted by a sensor and comprises obstacle feature data, and executing a real-time obstacle avoidance algorithm when acquiring the first sensing data so as to generate obstacle avoidance data; a mobile manipulator control platform is used for acquiring all sensing data output by the sensor and the obstacle avoidance data, so as to execute the overall control function of a mobile manipulator and generate decision data; and a second embedded platform is used for immediately executing a mobile manipulator motion control algorithm when receiving the obstacle avoidance data so as to complete, on the basis of the obstacle avoidance data, action command outputting required for obstacle avoidance, so that a motor used for executing motion actions in the mobile manipulator executes action commands to complete real-time obstacle avoidance, and executing the mobile manipulator motion control algorithm when receiving the decision data so as to drive, on the basis of the decision data, the motor to adjust the motion actions. Therefore, the obstacle avoidance reliability and obstacle avoidance response speed of mobile manipulators are improved, and the requirements of industrial scenarios are met.

The invention provides a wire guide plate riveting machine which is applied to the technical field of motor equipment machining and comprises a machine table, the top face of the machine table is a machining face, and a wire guide plate is machined and carried on the machining face. The wire guide plate carrying assembly is a movable mechanical arm, and the movable mechanical arm is arranged on the machining face. The hot air cold riveting assembly is arranged on the machining face, and the hot air cold riveting assembly conducts hot air cold riveting machining on the wire guide plate; local heating and softening of a cylinder are achieved through an integrated hot air heating system, a standard mushroom head structure is formed through a cold press forming technology, riveting point height detection is conducted in cooperation with a high-precision displacement sensor, and real-time photographing and defect recognition are conducted on the riveting appearance through a CCD visual system. And chippings and dust generated in the riveting process are removed in time through an air blowing and dust collecting device, so that the consistency and reliability of the riveting process and the overall quality of products are effectively improved, and the requirements of the modern industry for efficient automatic production and strict quality control of precise connecting pieces are met.

The utility model relates to a sky rail type telescopic mechanical arm carrying robot which comprises a main beam assembly, a mechanical arm, end beam assemblies and main beam motors, the end beam assemblies are installed at the two ends of the main beam assembly, and the main beam motors are installed on the end beam assemblies and used for longitudinal movement of the end beam assemblies. The manipulator is provided with a manipulator walking motor which is movably mounted in a sliding rail of the main beam assembly; the mechanical arm further comprises a telescopic mechanical arm and a mechanical arm lifting power mechanism. The telescopic mechanical arm comprises multiple stages of telescopic units which are sequentially arranged in a nested mode from outside to inside, and a mechanical arm object carrying fixing plate arranged at the bottom of the telescopic unit on the innermost side. The fixed end of the mechanical arm lifting power mechanism is connected with the outermost telescopic unit, and the telescopic end of the mechanical arm lifting power mechanism is connected with the mechanical arm carrying fixing plate. Compared with the prior art, the utility model has the advantages of good stability, high positioning accuracy, greatly increased load and stroke, standardized structural design and the like.