27 results about "Mobile manipulator" patented technology

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.

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.

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.

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.

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 utility model provides a kind of rope cap forming automatic identification feeding equipment, including workbench, workbench is set to material transmission mechanism, detection mechanism, positioning mechanism, mobile manipulator and pick-up manipulator, material transmission mechanism includes chute and locating seat, locating seat is set in the end of chute, detection mechanism includes infrared opposite -emission sensor, infrared opposite -emission sensor is set in one side of mobile manipulator;Positioning mechanism includes locating plate, and locating plate is opened with several locating slots, pick-up manipulator is set in one side of locating plate.Light pole is successively conveyed to locating seat from chute, and mobile cylinder clamps and rotates to infrared opposite -emission sensor and carries out detection, if light pole head is upward, then it is moved to locating slot and is placed, finally by pick-up manipulator and is picked to injection mold, replace artificial one by one and place, detection mechanism detects the direction of light pole successively and is uniformly placed in locating plate, avoid the direction of light pole inconsistency, and degree of automation is high, improve processing efficiency.

A mobile manipulator robot designed to transition between different modes of mobility. The robot includes a torso, a plurality of legs, at least one manipulator arm including a first end coupled to the torso and a working end, and an end effector removably securable to the working end of the manipulator arm. The plurality of legs including a first wheel and a foot. Each of the feet being moveable relative the wheel located on a respective leg between a first position, in which the foot is in contact with the ground, and a second position in which the foot is elevated above the ground. The first end of the manipulator arm is moveable in an upward and downward direction relative the torso and allows the robot to efficiently position the end effector at various elevations relative to the ground to manipulate items.

The application discloses a kind of vision system and vision calibration method for composite robot.The TCP is moved along preset trajectory by control, and image is collected in real time, camera relative calibration target pose is solved using PnP algorithm, and TCP target pose is calculated combining hand-eye matrix;After reaching standard position, XY deviation is calculated by visual corner registration, and Z deviation is calculated by laser ranging;Weighted error function based on Jacobian condition number and multi-source confidence is constructed, and step iteration convergence is adaptively adjusted.The application cuts off the transmission of cross-cycle cumulative error, suppresses PnP coplanar degeneration, and realizes high-precision, long-period stable pose recovery and self-calibration of mobile manipulator.

A method for controlling a mobile manipulator (1), the mobile manipulator (1) including a manipulator base (3) and at least one manipulator arm (5), the method comprising the steps of: determining a current configuration of the mobile manipulator (1), the current configuration including a manipulator arm configuration and a manipulator base configuration; determining a desired movement trajectory of the mobile manipulator (1); based on the current configuration of the mobile manipulator (1) and the desired movement trajectory, determining a current zero-movement point (ZMP) trajectory including the positioning of one or more current ZMPs of the mobile manipulator; determining a desired ZMP trajectory of the mobile manipulator (1), wherein each ZMP is located at the manipulator base. Within the supporting polygon of the base (3); the motion manipulator (1) is adjusted so that the current ZMP trajectory corresponds to the desired ZMP trajectory, wherein the step of adjusting the motion manipulator (1) includes the following steps: selecting a stabilization method from a set of stabilization methods and adjusting the motion manipulator (1) based on the selected stabilization method; determining whether the actual ZMP trajectory of the motion manipulator (1) corresponds to the desired ZMP trajectory; and when the actual ZMP trajectory of the motion manipulator (1) corresponds to the desired ZMP trajectory, the method further includes the following step: executing the motion trajectory of the motion manipulator (1).

The application discloses a picking device and relates to the technical field of robots. The picking device comprises a driving track, a conveying assembly and a mechanical hand assembly. The driving track is suspended in the air. The conveying assembly is connected to the driving track and can move along the extension direction of the driving track under the driving of the driving track. The mechanical hand assembly comprises a mechanical arm, a clamping jaw and scissors. One end of the mechanical arm is connected to the conveying assembly, and the other end of the mechanical arm is connected to the clamping jaw and the scissors. The clamping jaw is used for wrapping grapes, and the scissors are used for cutting off the corresponding grapevine of the grapes wrapped by the clamping jaw. The clamping jaw of the application can wrap grapes first, and then control the scissors to cut off the grapevine, so that the grapes can be picked. Since the driving track is suspended in the air, the conveying assembly and the mechanical hand assembly are also suspended in the air. In the process of advancing, the conveying assembly and the mechanical hand assembly will not crush the soil and will not cause serious soil compaction to affect the planting and production of grapes.

This invention discloses a dynamic grasping and positioning compensation method for a mobile robotic arm based on an IMU and a hand-eye system. This method establishes a precise pose transfer relationship through "robotic arm and camera extrinsic parameter calibration, and cart and robotic arm coordinate system calibration," reusing the vehicle-mounted IMU and the depth camera at the robotic arm's end (facing the target object). During cart movement, the depth camera detects the target object's distance in real time. When the target object enters the preset optimal grasping range, the method fuses IMU dynamic offset data and initial visual positioning data in real time, combined with a rigid connection structure to ensure structural stability and compensate for pose deviations caused by cart movement. This invention eliminates the need for external positioning equipment, significantly reducing hardware costs compared to laser tracker solutions. In uniform speed or micro-vibration scenarios of 0.1–0.3 m / s, it can be used for automatic loading and unloading in vapor chamber processes, with a robotic arm end-effector positioning deviation ≤0.8 mm and a dynamic grasping success rate of ≥90% for small targets. It is suitable for dynamic scenarios without infrastructure, such as laboratory sample transport and desktop workpiece grasping.

A robot system includes a plurality of mobile manipulator robots, where each mobile manipulator robot includes a mobile robot base, a robot manipulator mounted to the mobile robot base, and one or more computers in communication with the mobile robot base and the robot manipulator. The robot manipulator includes an end-effector that incorporates passive compliance due to spring elements at one or more joints of the robot manipulator. The one or more computers coordinate motion control of the mobile robot base and force control at the end-effector of the robot manipulator to manipulate a payload in cooperation with other mobile manipulator robots of the plurality, while collaborating with zero, one, or a plurality of human users that are in contact with the payload.

The utility model relates to solar thermal power generation equipment technical field discloses a kind of trough concentrator stand automatic detection adjusting device, including transmitting end, receiving end, movable manipulator and control end;Transmitting end is set on the bearing seat of end stand, for emitting laser signal to the direction of to be adjusted stand and receiving the laser signal reflected by receiving end;Receiving end is set on the bearing seat of to be adjusted stand, for receiving the laser signal sent by transmitting end and reflecting this laser signal to transmitting end;Movable manipulator is set close to to be adjusted stand, for adjusting the position and angle of to be adjusted stand;Control end is connected with transmitting end and receiving end signal, to generate adjustment information, and according to adjustment information control movable manipulator action, to be adjusted stand is adjusted to preset position and angle.It has beneficial effect in that: whole adjustment process is automatically completed, need not staff manual adjustment, avoid the problem that artificial factor causes measurement result inaccuracy.

A method for controlling a mobile manipulator (1) comprising a manipulator base (3) and at least one manipulator arm (5), the method comprising the steps of: determining a current configuration of the mobile manipulator (1), the current configuration comprising a manipulator arm configuration and a manipulator base configuration; determining a desired movement trajectory of the mobile manipulator (1); determining a current zero moment point (ZMP) trajectory of the mobile manipulator comprising the positioning of one or more current ZMPs based on the current configuration of the mobile manipulator (1) and the desired movement trajectory; determining a desired ZMP trajectory of the mobile manipulator (1), wherein each ZMP is located within a support polygon of the manipulator base (3); adjusting the mobile manipulator (1) such that the current ZMP trajectory corresponds to the desired ZMP trajectory, wherein the step of adjusting the mobile manipulator (1) comprises the step of adjusting a center of mass of the mobile manipulator (1), the adjusting of the center of mass comprising an adjustment of the manipulator arm configuration.

This invention discloses a method for quickly finding a reference point after a robot arm malfunctions or is impacted. The method involves moving the malfunctioning or impacted robot arm to a calibration device for recalibration of the reference point. The calibration device includes a calibration base, a first positioning pin mounted on the calibration base and mounted on the robot arm, a second positioning pin fixedly mounted on the calibration base, and a positioning sleeve slidably sleeved around the second positioning pin. During calibration, the first positioning pin is fixed to the robot arm, and then the robot arm is moved so that the tips of the first and second positioning pins are aligned vertically. The positioning sleeve is then moved upwards until it moves smoothly to the outer periphery of the first positioning pin and its lower end is higher than the tip of the first positioning pin. This point is recorded as the reference point. This application utilizes the cooperation of the first and second positioning pins and the positioning sleeve to quickly find the reference point. The overall operation is simple and significantly reduces maintenance costs.

A method for controlling a mobile manipulator (1), the mobile manipulator including a manipulator base (3) and at least one manipulator arm (5), the method comprising the steps of: determining a current configuration of the mobile manipulator (1), including a manipulator arm configuration and a manipulator base configuration; determining a desired movement trajectory of the mobile manipulator (1); determining a current zero-movement point (ZMP) trajectory based on the current configuration of the mobile manipulator (1) and the desired movement trajectory, including the positioning of one or more current ZMPs of the mobile manipulator (1); determining a desired ZMP trajectory of the mobile manipulator (1), wherein each ZMP is located within a support polygon of the manipulator base (3); adjusting the mobile manipulator (1) such that the current ZMP trajectory corresponds to the desired ZMP trajectory, wherein the step of adjusting the mobile manipulator (1) includes dynamic manipulator arm movement controlled by a first control function (I), wherein " ZMP des (t) "It is the expected ZMP trajectory;" ZMP real "This is a true ZMP trajectory;" t "(II) is the time; (III) is the joint state of the manipulator arm (5) in terms of acceleration, velocity, and position; and (IV) is the rotational position, rotational velocity, and rotational acceleration of the manipulator base (3), and " e "It is the deviation between the actual ZMP trajectory and the expected ZMP trajectory."

The invention provides a mobile handling device 100, in particular for use in a manufacturing system 1000, comprising an unmanned transport vehicle 1 and a handling apparatus 2. The transport vehicle 1 is movable on a floor surface, the handling apparatus 2 is fixed to the transport vehicle 1 and is configured to move an operation object 300, 300a received thereby relative to the transport vehicle 1, which operation object can in particular be a tool 300a, a workpiece or a workpiece pallet. Furthermore, the mobile handling device 100 comprises a movable housing device 3, which is fixed to the transport vehicle 1 and which, in a closed state, at least partially delimits an interior region 30 in which the handling apparatus 2 is arranged at least mostly when the handling apparatus 2 is moved to a basic position, and which is configured to move at least one first housing component 31 of the housing device 3 relative to the transport vehicle 1 to transition to an open state, thereby opening an access to a work region 20 adjacent to the interior region 30, in particular in front of or beside the transport vehicle 1, through which the handling apparatus 2 can move the received operation object 300, 300a from the interior region 30 into the work region 20.

This application relates to the field of double-head lathe technology, specifically disclosing a gantry robot and lathe for a CNC adjustable tool post double-head lathe. The robot includes: a gantry body mounted on a machine base; two loading / unloading robots, each including a first dual-axis moving mechanism and an end effector for gripping workpieces. The first dual-axis moving mechanism is slidably mounted on the gantry body, and the end effector is mounted at the end of the first dual-axis moving mechanism. The first dual-axis moving mechanism is used to drive the end effector to move along the Z-axis or Y-axis; and a first linear drive mechanism mounted on the gantry body and connected to the first dual-axis moving mechanism, used to drive the end effector to move along the X-axis via the first dual-axis moving mechanism. The robot can effectively improve the production efficiency and automation level of the CNC adjustable tool post double-head lathe.

The present application relates to a kind of full-automatic laminating machine, including feed conveyor, mobile jig is equipped with, the upper side of the jig is equipped with PCB board, mobile manipulator, for moving PCB board to jacking platform, film pulling and carrying mechanism, equipped with lateral transmission mechanism, the lateral transmission mechanism is equipped with lateral moving plate, the lateral moving plate side is equipped with film clamping structure, under the action of lateral transmission structure, film is moved to the upper side of PCB board, carrying structure, for moving the steel ring of jacking platform side position to jacking platform position, steel ring placement table, for placing steel ring, mobile manipulator moves PCB board to jacking platform position, at this time, film pulling and carrying mechanism simultaneously complete the carrying placement of steel ring, and film is pulled out from winding film mechanism position and moved to the upper side of PCB board, then again complete laminating process, at this time, the lateral moving plate of film pulling and carrying mechanism is completed in the process of moving, multiple processes, to simplify production process, improve laminating efficiency.

A method for controlling a mobile manipulator (1), the mobile manipulator including a manipulator base (3) and at least one manipulator arm (5), the method comprising the steps of: determining a current configuration of the mobile manipulator (1), the current configuration including a manipulator arm configuration and a manipulator base configuration; determining a desired movement trajectory of the mobile manipulator (1); determining a current zero-movement point (ZMP) trajectory based on the current configuration of the mobile manipulator (1) and the desired movement trajectory, the current ZMP trajectory including the position of one or more current ZMPs of the mobile manipulator (1); determining the position of the mobile manipulator (1). The desired ZMP trajectory, wherein each ZMP is located within the support polygon of the manipulator base (3), is adjusted by moving the manipulator (1) so that the current ZMP trajectory corresponds to the desired ZMP trajectory. The step of adjusting the moving manipulator (1) includes moving the dynamic manipulator arm, which is controlled by the following first control function: (F1) where “” is the desired ZMP trajectory; “” is the actual ZMP trajectory; “” is time; (F2) is the joint state of the acceleration, velocity and position of the manipulator arm (5); and “” is the deviation between the actual ZMP trajectory and the desired ZMP trajectory.

The application belongs to the technical field of textile automation, and discloses an intelligent cotton spinning manipulator autonomous mobile operation control system and method; firstly, the spatiotemporal dynamic characteristics of point cloud clusters are extracted to realize accurate identification of flying interference and confidence obstacles; the interference clusters are mapped to a temporary observation buffer layer with a confidence decay mechanism, and are superimposed with a static map to construct a hybrid cost grid. In the path planning process, the system dynamically replans in real time according to the confidence evolution curve: if the interference disappears, it is smoothly passed through, and if the interference continues, it is upgraded to an entity obstacle and avoidance and stopping are performed. In addition, the application also covers envelope dynamic adjustment based on the posture of the manipulator and a sensing compensation mechanism for operation air flow disturbance. The application enhances the sensing robustness and operation continuity of the mobile manipulator in a complex dynamic environment.

The application discloses a teleoperation mobile manipulator control method and system under a denial of service attack, and relates to the technical field of robot control. The method comprises the following steps: a single master multi-slave teleoperation system framework is built; a dynamics model of an operating arm of a master end and a slave end and a base of the slave end is respectively established, complete decoupling is realized through a dynamics consistent pseudo-inverse matrix and zero space projection; a virtual system is constructed to smooth discontinuous signals at a remote end, an adaptive neural network sliding mode controller is designed to drive trajectory tracking; a closed loop system is integrated, a stability criterion is established based on a multi-dimensional small gain theorem, and global stability of the system and consistency of master-slave trajectories are realized through parameter configuration. The application can inhibit network disturbance and improve collaborative accuracy and robustness.

The application discloses a kind of redundancy mobile manipulator heuristic linkage trajectory planning method.For the linkage control problem of the mobile platform and manipulator of redundancy mobile manipulator, platform path and joint trajectory are encoded into upper and lower layer population respectively, and multidimensional conflict target is decomposed into several subproblems;Through the collaborative evolution mechanism under the neighborhood constraint of subproblem, it is forced to match combination under the same preference of upper and lower layer, to ensure that search direction is consistent;Fusion differential evolution parameter self-adaptation and problem-specific local search, periodically optimize solution set;And according to the population state dynamic adjustment neighborhood scale and local search intensity.The application can efficiently generate uniform distribution optimal trajectory solution set, improve the quality of trajectory planning of redundancy mobile manipulator.

This application provides a collaborative sorting system and method for multiple mobile robotic arms based on GNN and reinforcement learning. The system includes acquisition, construction, updating, and instruction modules. The acquisition module, through a central scheduling server, acquires environmental information such as the position, speed, and state of the mobile robotic arms, objects, and obstacles from an environmental perception system. The construction module constructs a dynamic graph data structure based on the environmental information according to dynamic edge activation rules; that is, a connection edge is established when the Euclidean distance between two entity nodes is less than a preset threshold or the logical relationship strength is greater than a preset threshold. The updating module inputs the dynamic graph data structure into a graph neural network encoder, employs a collaborative attention mechanism, dynamically selects collaborative nodes, calculates attention weights, and updates node embeddings. The instruction module generates joint action instructions for the mobile robotic arms based on the node embedding vectors. This application unifies the representation of entities and their associations, integrates encoding and decision-making, and synchronously and collaboratively generates instructions, improving the overall efficiency, real-time performance, and safety of the system.

The application provides a kind of battery cell roll tear mechanism, applied to battery cell manufacturing technical field, including manipulator, telescopic clamping pin and telescopic detection sensor, the manipulator is connected with lifting fixed block, the lifting fixed block is connected with clamping lifting cylinder, the clamping lifting cylinder is connected with clamping block, the lifting fixed block is connected with telescopic fixed plate, telescopic fixed plate is connected with elastic element, elastic element is fixed to telescopic clamping pin, telescopic clamping pin is slidably connected with telescopic fixed plate, telescopic clamping pin is connected with elastic element, clamping block and telescopic clamping pin clamp release paper, the telescopic detection sensor is used to detect whether telescopic clamping pin moves.The manipulator drives clamping block and telescopic clamping pin to separate release paper from adhesive layer, when telescopic clamping pin contacts battery cell, telescopic clamping pin moves under stress, telescopic detection sensor detects that telescopic clamping pin moves, and the manipulator stops moving, thereby avoiding the occurrence of battery cell puncture phenomenon.

The application discloses a kind of dynamic scene under the motion control method of mobile manipulator and its application, using model predictive control, the state and control input quantity in future period are predicted, the deviation between the end pose of manipulator and target pose is added as a quadratic cost item to cost function, and set several collision points in the prominent position of mobile manipulator, the distance between these collision points and the obstacle in space is added as a penalty term to cost function, while the motion speed of robot, motion acceleration, the joint angle motion range of manipulator, joint angle acceleration and robot self-collision avoidance are added as constraint to model predictive controller, solve the optimal control input queue and act on the controller of robot, solve the defects, such as adaptability difference, stability deficiency of existing mobile manipulator in face of dynamic complex scene, improve the working stability of mobile manipulator robot.

The application provides a kind of mobile mechanical arm operation safety-oriented monitoring and real-time alarm method and system, comprising: step S1: based on real-time video stream frame image, target detection model is used to carry out target detection and positioning to mechanical arm and worker;Step S2: according to the position coordinates of mechanical arm, the center point coordinates are calculated;By comparing the pixel displacement of the center point of mechanical arm between consecutive video frames, it is judged whether mechanical arm is in motion state;Step S3: when mechanical arm is in motion state, then based on two-dimensional work area coordinate system, it is judged whether mechanical arm is in worker work area;Step S4: based on two-dimensional work area coordinate system, it is judged whether worker is in worker work area.