276 results about "Mobile manipulator" patented technology

In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.

The invention discloses an RBF neural network based mobile manipulator self-adaptive control method. The method comprises the following steps of S1, establishing a standard mobile manipulator dynamical model; S2, constructing an RBF neural network of the robot dynamic model; S3, designing a mobile manipulator trajectory tracking method with the adaptive capability through the constructed neural network; S4, automatically identifying unknown mobile platform and manipulator dynamic parameters through online learning, and conducting closed-loop identification and compensation on the unknown dynamic parameters, wherein the parameters of the RBF neural network can be updated on line, and finally, the feasibility and effectiveness of the simulation verification control method are verified. Through the method, output errors caused by the unknown dynamic parameters and external disturbance can be eliminated completely without an accurate robot dynamic model; the deficiency that a model-based robot control scheme cannot be implemented without the accurate dynamic model is made up; and the dynamic performance of a mobile manipulator and the trajectory tracking precision of a joint space areimproved.

A robot system comprising a first robot (R1) with a camera of a visual sensor mounted thereon and a second robot (R2) having a feature portion, is disclosed. The robots (R1, R2) are set in the first initial states (G1), from which the first robot (R1) or the second robot (R2) is moved so that the image of the feature portion assumes a target position or size (G2), thereby to store the present positions (P1, Q1) (G3). The same process is repeated N times (N 3) while changing the positions of the initial states of the robots (G4). Based on the positions P1,...., PN and Q1,....., QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from GBP b to GBP b' is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.

The invention discloses a manipulator hand-eye calibration method based on active binocular vision. The method comprises the following steps that S1, a binocular vision sensor is calibrated by using a 2D plane calibration target, and a binocular vision sensor coordinate system is established; S2, the tail end of a manipulator is moved to any position, the coordinates of the tail end of the manipulator under a manipulator coordinate system are recorded, coded images are projected to the tail end of the manipulator by a structured light generator, the binocular vision sensor acquires the images, and the three-dimensional coordinates of the tail end of the manipulator under the binocular vision sensor coordinate system are calculated by utilizing coded pattern information and polar geometric constraints; and S3, the step S2 is repeated and multiple sets of coordinate data are obtained, and the relation between the manipulator coordinate system and the binocular vision sensor coordinate system is calculated, i.e. the manipulator hand-eye relation is calculated.

The related natural detection device for magnet ring image comprises: a frame with an auto feeding pan for magnet ring on front and a first dual-head mobile manipulator on back; arranging a first image detection platform on the manipulator and a second manipulator as well as a ring turning device on back side of the platform; using the first manipulator and platform to detect diameter and top surface, and the second device to detect target thickness and bottom surface. This invention reduces time and cost.

The invention relates to a robot-controlled recording device comprising a robot with a number of axes of movement which are able to be controlled via a robot controller for moving a robotic hand and a recording system fitted to the robotic hand which is able to be moved by the robot for recording data of an object supported on a support unit. The robot controller is connected to an additional drive and controls this for moving the robotic hand synchronized to the axes of movement such that the additional drive would create a relative rotation and / or translation movement between the recording system and the support unit created by the movement of the robotic hand solely by a movement of the support unit with a stationary robotic hand. The drive is however connected not to the support unit but to an encoder for creating a synchronization signal for the recording.

The invention discloses a mobile manipulator grasping control system and method based on machine vision. The mobile manipulator grasping control system comprises a terminal control module and a manipulator manipulation and control module, wherein the terminal control module comprises an image processing unit, a target object detection unit and a display and command unit; the manipulator manipulation and control module comprises a main control unit, an image acquisition unit, a motion planning unit and a manipulator body unit; the terminal control module carries out communication with the manipulator manipulation and control module through a wireless communication module and receives machine vision information from the image acquisition unit; the image processing unit is connected with the target object detection unit, obtains the position of the target object in the image according to the received data and further displays in real time through the display and command unit; the main control unit is connected with the image acquisition unit, receives data information and further transmits a control command to the motion planning unit, so as to adjust the positions of joints in the manipulator of the manipulator body unit to grasp the target object. According to the mobile manipulator grasping control system and method based on machine vision, long-distance manipulation and control are realized, decisions can be made in real time, and the target object can be grasped stably and reliably.

The invention discloses a quality testing system for friction discs. The quality testing system consists of a first defect detection device, a second defect detection device, an internal tooth stick distance detection device, a thickness and flatness detection device, and a controlling and managing machine, wherein the first defect detection device, the second defect detection device, the internal tooth stick distance detection device and the thickness and flatness detection device are sequentially arranged, and the controlling and managing machine is used for controlling the whole testing system to work; a feeding manipulator is arranged at the front end of the first defect detection device; a discharging manipulator is arranged at the tail end of the thickness and flatness detection device; a moving and overturning manipulator which is used for completing the overturning operation of the friction discs in a moving process is arranged between the first defect detection device and the second defect detection device; moving manipulators are arranged between the second defect detection device and the internal tooth stick distance detection device, and between the internal tooth stick distance detection device and the thickness and flatness detection device. The detection of the friction plates on scratches, patches, foreign matters in grooves, broken blocks, grooving traces, center distances of internal tooth sticks, flatness and thickness can be completed at the same time; unmanned automated operation can be realized, a false detection rate generated due to the weariness of staff is reduced, the production efficiency is improved, and the production cost is reduced.

A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply.

In a holding and positioning apparatus for an optical element, the optical element is mounted in a mounting ring and the mounting ring is mounted via at least one manipulator unit. The manipulator unit has a linear actuating element. The manipulator unit has a manipulator head, a movable manipulator part and a manipulator foot, the manipulator head being connected to the movable manipulator part via a solid body joint. The movable manipulator part is connected to the manipulator foot via an actuator and at least one solid body joint, the linear actuating element being coupled to the manipulator foot and the actuator.

This invention provides a system and method for concurrently (i.e. non-serially) calibrating a plurality of 3D sensors to provide therefrom a single FOV in a vision system that allows for straightforward setup using a series of relatively straightforward steps that are supported by an intuitive graphical user interface (GUI). The system and method requires minimal data input about the scene or calibration object used to calibrate the sensors. 3D features of a stable object, typically employing one or more subobjects, are first measured by one of the image sensors, and then the feature measurements are used in a calibration in which each of the 3D sensors images a discrete one of the subobjects, resolves features thereon and computes a common coordinate space between the plurality of 3D sensors. Sensor(s) can be mounted on the arm of an encoderless robot or other conveyance and motion speed can be measured in setup.

The invention provides a bag breaking mechanism and an automatic object and bag separation system. A garbage bag is grabbed to the position above the bag breaking mechanism through a movable mechanical arm, then the plastic garbage bag is scratched through the bag breaking mechanism, and reliable separation of garbage and the garbage bag is achieved. The automatic object and bag separation systemis characterized by comprising a mechanical arm unit, a horizontal moving unit, the bag breaking mechanism, a power unit and a control unit, the mechanical arm unit is used for grabbing the bag put into the bag breaking mechanism, the horizontal moving unit is used for driving the mechanical arm unit to horizontally move above the bag breaking mechanism, the bag breaking mechanism is used for tearing the bag after the mechanical arm unit grabs the bag, so that the object in the bag falls off, and the bag is separated from the object in the bag, the power unit provides power for the mechanicalarm unit, the horizontal moving unit and the bag breaking mechanism, and the control unit controls the mechanical arm unit, the horizontal moving unit, the bag breaking mechanism and the power unit tooperate.

The invention relates to the technical field of LED backlight light guide plate cutting and packaging, in particular to a full-automatic cutting and packaging integrated machine. A movable mechanicalarm is arranged on one side of the upper surface of a rack-protective cover, a front way taking mechanical arm is further installed at the position, on one side of the movable mechanical arm, of the rack-protective cover, a material supporting component is further installed at the position, on one side of the front way taking mechanical arm, of the rack-protective cover, a first cutting componentand a second cutting component are further arranged on one side of the middle portion of the upper surface of the rack-protective cover and are located on the same horizontal line, a discharging carrying platform is further installed on the position, on one side of the first cutting component, of the rack-protective cover, a jacking platform is installed at the position, on one side of the discharging carrying platform, of the rack-protective cover, and an assembly line is further arranged on the side, far away from the movable mechanical arm, of the rack-protective cover. By means of the full-automatic cutting and packaging integrated machine, the requirement of in-batch production can be met, and the production efficiency and the product stability are improved.