133 results about "Motion controller" patented technology

The invention discloses a calibration system and method for a point laser module pointing to a center, and relates to the technical field of optics. The system comprises a basic positioning unit, a sensing feedback unit, a motion control unit and an auxiliary positioning device. The basic positioning unit comprises a six-degree-of-freedom module carrying platform and a high-precision displacement platform; the sensing feedback unit comprises a multi-axis attitude sensor array and a contact type probe group; the motion control unit comprises a multi-axis motion controller and a servo driving module; the auxiliary positioning device comprises a reference calibration assembly and an environment compensation module. According to the method, the contact probe extends out to be in contact with the standard ball target, an initial coordinate system reference is established, the environment is monitored in real time, the three-dimensional attitude and environment parameters are synchronously input into the LSTM prediction model, the real-time compensation amount is generated, the measurement light path is constructed, sub-pixel-level center locking is achieved through moire fringe verification, and the calibration precision is improved.

The invention relates to a dynamic precision compensation control method based on an intelligent PCB drilling machine, and the method comprises the steps: collecting a dynamic parameter set in real time through a multi-source sensor group disposed on a drilling main shaft, the dynamic parameter set comprises displacement deviation caused by axial deformation of a main shaft, thermal deformation analyzed based on interlayer temperature gradient and frequency spectrum characteristics reflecting tool-material coupling vibration, and according to the multi-dimensional compensation vector and current drilling process parameters, a space trajectory correction instruction and a motion parameter optimization instruction are dynamically synthesized, so that the dynamic parameter set is obtained. Wherein the trajectory correction instruction reconstructs a real-time interpolation path through a B-spline curve, the motion controller receives a space trajectory correction instruction and a motion parameter optimization instruction, at least three times of compensation iteration are completed in a single drilling period, a linear motor and a spindle motor are driven to execute online precision compensation, and the execution delay of the compensation instruction is smaller than 2 ms.

The invention discloses a message extraction method and device, a servo system, a storage medium and a computer program product, and the method comprises the steps: capturing an interaction message between a motion controller and a servo driver, and obtaining initial message data; screening the initial message data, and retaining a communication message between the motion controller and the servo driver; performing format conversion on the screened initial message data to obtain analyzable message data; extracting data fields from the analyzable message data, wherein the data fields reflect information of instruction transmission, operation feedback and fault states between the motion controller and the servo driver; and performing format processing on the data field, and displaying the data field after format processing in a visual form. According to the scheme, efficient extraction, presentation and real-time monitoring of the message are realized by capturing the interactive message and performing screening, format conversion, data field extraction, format processing and visual display, and the debugging efficiency and troubleshooting speed of the servo system are improved.

The invention discloses a multi-device synchronous measurement system and a time sequence offset correction method based on cross correlation, the system comprises a data acquisition module, an offset calculation module and a data synchronization module, the data acquisition module is responsible for sending an acquisition command to a confocal controller and a motion controller; recording a sending timestamp to preliminarily estimate potential delay, receiving data, ensuring that the data are not lost according to a sequence number sequence, and removing noise; the offset calculation module is responsible for receiving forward and reverse data sets from the data acquisition module, performing length consistency verification, automatically detecting initial time sequence offset by using a cross-correlation algorithm, and generating an offset sample number; and the data synchronization module is responsible for adjusting the data sequence according to the offset value to realize accurate synchronization. According to the invention, external signals or wiring is not needed, and offset compensation is carried out only by using acquired data, so that the compatibility and expansibility of the system are remarkably improved; a hardware trigger signal or an external clock source is not needed, synchronization is achieved only through a software algorithm, and system complexity and cost are reduced.

A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.

The invention provides a quick motion control method for a quadruped robot in a discrete terrain, which is used for improving the quick passing performance of the quadruped robot in a complex discrete terrain. According to the method, a multi-dimensional constraint model including dynamic constraints, kinematics constraints and the like is constructed, and limiting conditions of the robot during fast passing are systematically analyzed; an optimal safe landing point is searched by adopting an efficient optimization algorithm, and a dynamic response rapid motion controller is established on the basis of the optimal safe landing point, so that the posture and the foot end track of the robot are accurately regulated and controlled, and finally, the quadruped robot is ensured to have rapid and stable motion capability in discrete terrains.

The invention belongs to the technical field of commercial vehicle automatic driving, and discloses a multi-axle commercial vehicle reconfigurable automatic driving trajectory tracking fault-tolerant motion control method, which specifically comprises the following steps: establishing a vehicle reconfigurable dynamic tracking error prediction model based on a small corner hypothesis and a vectorization modeling method; augmenting a state quantity for a delay phenomenon of a vehicle steering system; traversing different vehicle steering failure configurations offline to generate a steady state reference and a control reference; system feedback is obtained online in real time; an MPC problem with equality constraints is converted into a quadratic programming problem for solving and calculation simplification; performing matrix multiplication on the optimal control law obtained by looking up the table according to the time-varying parameters and state feedback to obtain a steering wheel angle control quantity; and sending the turning angle instruction to a steering wheel of the multi-axle vehicle. According to the invention, the compatibility and real-time performance of the automatic driving motion controller of the multi-axle commercial vehicle can be improved, and the precision of the trajectory tracking process can be improved.

The invention discloses a dual-hybrid robot collaborative singularity avoidance planning method based on a mirror image center, and relates to the field of robot motion control. The method comprises the following steps: firstly, calculating a singular axis vector of each tool path interpolation point and a support head path interpolation point, judging whether the double-hybrid robot is in a singular configuration, and then enabling the robots on two sides to avoid a singular area by utilizing a method for correcting a tool axis vector and a support head axis vector. And a method for constructing a mirror image center to correct a tool nose point position vector and a supporting head tail end center position vector is utilized to enable the robot to still keep movement synchronization, and finally iterative detection and correction are carried out on all path interpolation points. The method has the beneficial effects that the method can be implanted into a kinematics inverse solution algorithm in a motion controller of a mirror image milling system, so that the attitude of the two machines is always kept collinear in the correction process while the singularity is synchronously corrected by the two machines, and the continuity and smoothness of a motion trail are ensured.

The invention relates to the technical field of optical free-form surface non-contact measurement, and discloses a free-form surface contour detection method and device based on confocal fixed-focus normal vector measurement, and the detection device comprises a normal vector measurement sensor, a precise motion platform and a computer. Synchronously acquiring position information of the laser interferometer, light spot centroid offset of a normal measurement light beam of the two-dimensional position detector and light intensity information of the focus detector by using a data acquisition card; wherein the precise motion platform comprises a scanning workpiece table, an objective lens driver, a Z-direction macro displacement guide rail and a motion controller, and the motion controller is used for controlling the scanning workpiece table, the objective lens driver and the Z-direction macro displacement guide rail to execute high-precision displacement; and the computer sends a scanning measurement sampling point of the measured free-form surface to the motion controller so as to realize scanning measurement of the measured free-form surface. According to the invention, the surface contour of the free-form surface can be reconstructed by fitting the normal vector of the focus position, and high-precision detection of the contour of the free-form surface is realized.

The present invention discloses a zero-point calibration system for a robot based on binocular vision technology and the LM algorithm, which includes a robot, a motion controller, a host computer, a target, and a binocular camera fixedly installed at the end of the robot; a zero-point calibration method for a robot based on binocular vision technology and the LM algorithm is also disclosed, including: S1: preliminarily calibrating the zero points of each joint according to the marks on the robot body; S2: recording the joint angle values of the robot when the end of the robot reaches several points and the spatial coordinates of the target point relative to the camera; S3: establishing a forward kinematics model and an error model of the robot to obtain the deviation of the current zero-point position of each joint relative to the actual zero-point position; S4: iteratively optimizing the parameters to be calibrated through the LM algorithm to obtain the calibrated parameters; S5: inputting the obtained calibrated parameters into the motion controller of the industrial robot for error compensation to complete the zero-point calibration of the robot.

The embodiment of the invention discloses a position feedback method for a scanning frame. The method comprises the steps that a motion controller is used for receiving a control instruction and sending a control signal to a servo driver; the servo driver is used for sending a driving signal to a servo motor; a servo motor is used for driving a horizontal movement module to move along a horizontal supporting frame of a scanning frame, the horizontal supporting frame comprises n grating rulers, the adjacent grating rulers have overlapped parts, n-1 position calibration points are arranged in the n-1 overlapped parts, and the horizontal movement module comprises n reading heads corresponding to the n grating rulers; reading position data fed back by the (i-1) th grating ruler by using the (i-1) th reading head, and feeding back the position data to the motion controller (1lt) through the encoder reading module; i < = n; and sending a switching signal to the horizontal motion module by using the motion controller, so that the horizontal motion module switches the ith reading head at the (i-1) th position calibration point to read position data fed back by the ith grating ruler.

The present application relates to the technical field of wave generator system, disclose a wave generator system data control method, wave generator system includes central controller, motion controller and multiple wave generators; wave generator has driver, motion structure and wave board, motion controller is the motion control card based on EtherCAT bus; the central controller generates multiple data parameters according to the target wave spectrum needed to generate, and calculates the time series data of the motion of each wave board through data parameters, and the motion controller controls the wave board motion of multiple wave generators according to time series data, the motion of wave board promotes water movement, forms simulated wave; acquisition sensor for collecting simulated wave data is arranged in circular pool, and the acquisition sensor transmits the collected simulation data to the central controller, the central controller analyzes simulation data, and corrects time series data according to the analysis result, optimizes time series data, so that simulated wave infinitely approaches target wave spectrum.

The application provides a wind power blade end face milling machine, which comprises a support frame with vertical square frames, fixing and pressing devices installed at each corner of the vertical square frames for fixing wind power blades radially from the outside, a three-axis linkage device, a milling head and a motion controller, the three-axis linkage device comprises a Z-axis moving mechanism, X-axis beam assemblies movably installed on the left and right sides of the vertical square frames through the Z-axis moving mechanism on the back side, X-axis moving mechanisms movably installed on the front side of the X-axis beam assemblies and Y-axis feeding mechanisms installed on the top of the X-axis beam assemblies through the X-axis moving mechanisms; the milling head is movably installed on the Y-axis feeding mechanism and comprises a milling cutter head. The application can radially clamp the wind power blade from the outside, so that the fixing is easy to operate and the production is safe; the three-axis linkage device enables the milling head to move and feed along the Y-axis, the X-axis and the Z-axis to complete the milling.

The application relates to a flexible material dynamic positioning control system and method based on real-time length detection, which comprises a transmission mechanism, a sensing mechanism, an encoder, an array air jet group, a peripheral system and a motion controller. The motion controller is connected to the sensing mechanism, the encoder, the array air jet group and the peripheral system. The motion controller is used for calculating the length and displacement of the flexible material according to the response time of the flexible material passing through the sensing mechanism and the conveying speed of the transmission mechanism, dynamically calculating the midpoint position of the flexible material according to the length and displacement of the flexible material, and determining the corresponding array air jet group of the flexible material according to the flexible material obtained by the peripheral system. When the center position of the flexible material reaches the position of the corresponding array air jet group, the corresponding array air jet group is triggered. The array air jet group can realize accurate air blowing sorting of the flexible material, realize adaptive adjustment of the air blowing position of the flexible material with different lengths, and meet the accurate sorting requirements of the flexible material with different lengths.

This utility model provides a hinge opening and closing test fixture. The fixture table includes a fixed base, a rotating base, a fixed fixture, and a rotating fixture. Support feet are located at the bottom and rear. The fixed base mounts the fixture table, and the fixed fixture is connected to the fixed base. Hinge fixing pieces are secured with screws through fixing holes. The rotating base is connected to the fixture table via a rotating shaft, and the rotating fixture is connected to the rotating base. A clamping groove holds the hinge rotating piece, and the groove has an elastic clamping layer to prevent loosening. The fixture table contains a switching power supply, a motion controller, a servo motor, and a worm gear reducer to drive the rotating shaft. A counting sensor under the rotating base measures the number of rotations, which is displayed on the front side of the fixture table via a counter. This fixture is securely fixed, provides accurate driving and counting, is efficient and convenient, and is suitable for testing the opening and closing performance of hinges.

The invention provides a prospective interpolation method and system based on NURBS local support, and the method is applied to a motion controller and comprises the steps: obtaining a control point sequence and a node information sequence of an NURBS curve, and extracting a local data sequence under a preset sliding window based on the control point sequence and the node information sequence; based on the local data sequence, obtaining a segmentation point sequence and a geometric feature sequence under a preset adaptive interval recursion mechanism; generating an expected speed set under a preset speed constraint condition based on the segment point sequence and the geometric feature sequence; carrying out binding processing on the basis of the geometric feature sequence and the expected speed set to obtain a structured trajectory data set; and performing interpolation processing on the motion controller based on the structured trajectory data set. According to the technical scheme provided by the invention, prospective interpolation can be realized based on the control points and node information of the NURBS curve, and the consumption of memory resources is reduced.

This application relates to a high-precision motion control system and method for a coordinate measuring machine (CMM). The high-precision motion control system includes: a control handle for generating a corresponding target control signal in response to control operations; a motion controller communicatively connected to the control handle and the CMM; the motion controller receives the target control signal, queries a preset control curve based on the target control signal, determines the speed control coefficient corresponding to the target control signal, generates a target control command for controlling the probe based on the speed control coefficient, and sends the target control command to the CMM; wherein the target control command controls the movement direction and speed of the probe for measuring the workpiece. This solves the problems of low efficiency and poor accuracy caused by inflexible speed control in manual operation, improves the flexibility and accuracy of speed control in manual operation of the CMM, thereby enhancing measurement efficiency and reliability.

This invention discloses a connector manufacturing method with high-precision servo-controlled material feeding and riveting coordination, belonging to the field of connector automated manufacturing technology. The method includes: system initialization and process package loading; a servo-controlled material feeding unit performing coarse positioning and conveying; a vision system acquiring images and calculating three-dimensional position deviations; a motion controller executing a look-ahead coordination algorithm to dynamically calculate the material feeding axis start-up timing based on the riveting head return state, achieving dual-axis spatiotemporal synchronization; superimposing the three-dimensional deviations onto the riveting head trajectory to achieve visually guided precise positioning; real-time acquisition of force-displacement data during riveting, comparison with a standard curve, alarming and eliminating abnormalities, automatically fine-tuning riveting parameters and feeding the trend forward to the coordination algorithm when systematic drift is detected; and recording key data after riveting completion. This invention achieves deep coordination between material feeding and riveting, significantly improving the precision, efficiency, and process adaptability of connector manufacturing, providing a data foundation for intelligent manufacturing.

The present invention discloses a disconnector system based on dynamic contact control, comprising: an arc detection unit, which includes a current sensor, a voltage sensor, and an optical sensor; a contact motion control unit, which includes a plurality of servo motors and a motion controller, the servo motors drive the contacts to run according to a designed trajectory, and the motion controller is used to execute a trajectory planning algorithm; a protection unit, which includes an overcurrent protection element and a temperature detection element; a performance evaluation unit, which includes a data recording module and a life prediction module. The present invention has the following beneficial effects: This disconnector system based on dynamic contact control can optimize the motion trajectory and speed of the contacts, not only solve the problem of limited space, but also reduce the equipment cost and improve the reliability and maintainability of the system.

A variety of variations can include methods of training a neural network vehicle motion controller that more closely replicates how a human would drive a vehicle using intuitive vehicle dynamics variables and predict parameters in order to determine how a motion controller should communicate steering angle, throttle, and braking inputs to a vehicle to navigate the vehicle.

The application discloses a closed-chain operation hydraulic double-arm trajectory planning and motion control method considering multiple physical constraint limitations. The method comprises the following steps: establishing a hydraulic double-arm trajectory planner, modeling the physical constraints of the hydraulic double-arm, and generating a new expected trajectory according to an input instruction; establishing a hydraulic double-arm motion controller, receiving the expected trajectory from the trajectory planner, adaptively updating object inertia parameters for estimation of the physical constraint boundary, and performing motion control on the double arm. The application can be used for closed-chain operation of the hydraulic double-arm object, ensures that the object motion does not exceed the multiple physical constraint limitations of the system, so that the object does not deviate from the expected path, reduces the double-arm position error and internal force, and thus avoids the occurrence of unexpected accidents.

The invention provides a logistics AGV operation and control OTA upgrading method, which comprises the steps that S1, a new version AGV software package is uploaded through a cloud end, and an RCS server receives update of the new version AGV software package and requests to download the new version AGV software package; s2, the AGV equipment is started, the main controller sends a request for checking the version of the AGV software package from the RCS server, if a new version of the AGV software package does not exist, no response is made, and otherwise, the new version of the AGV software package is downloaded from the RCS server; and S3, the main controller analyzes the new version software package, and sends and writes the analyzed new software package into a motion controller. The main controller and the motion controller of the AGV equipment are independent, the motion controller is independently upgraded under the condition that the main controller is not upgraded, modular management is better conducted on the whole software architecture of the logistics AGV, when only the motion controller is upgraded, if a fault occurs, the motion controller can be recovered through the main controller, and the reliability of the logistics AGV equipment is improved. Returning to a factory is not needed, and the production efficiency is improved.

The present invention discloses a passive motion trajectory generation method based on MINIMAL-SNAP. Initial conditions are set, and a sparse trajectory point sequence is allocated; the maximum allowable number of segments is set, the sparse trajectory point sequence is segmented, and a time allocation function is configured; a target constraint matrix is determined; a process constraint matrix is determined, including configuring derivative constraints and configuring continuity constraints; the trajectory parameter matrix within the segment is solved by callback, and the end-point state values are saved; all segments between two points are processed through traversal and loop, and then all points of the trajectory sequence are processed. The generated sequence is sent to the trajectory execution mechanism for execution to generate the trajectory. By giving a sparse and rough trajectory point sequence, the present invention autonomously completes trajectory smoothing and dynamic smoothing, and efficiently outputs trajectory points while taking into account the execution speed, making up for the defect that low-cost motion controllers cannot generate complex trajectories, and can provide a good passive motion rehabilitation experience for patients.

The invention relates to a flexible material dynamic positioning control system and method based on real-time length detection, and the system comprises a transmission mechanism, an induction mechanism, an encoder, an array wind spraying group, a peripheral system, and a motion controller which is connected with the induction mechanism, the encoder, the array wind spraying group, and the peripheral system. The motion controller is used for calculating the length and the displacement of the flexible material according to the response time of the flexible material passing through the sensing mechanism and the conveying speed of the conveying mechanism, dynamically calculating the midpoint position of the flexible material according to the length and the displacement of the flexible material, and determining the corresponding array air spraying group according to the flexible material acquired by the peripheral system; and when the center position of the flexible material reaches the position of the corresponding array air spraying group, the corresponding array air spraying group is triggered. The flexible materials can be accurately blown and sorted by the array air spraying set, self-adaptive adjustment of the blowing positions of the flexible materials with different lengths is achieved, and the requirement for accurate sorting of the flexible materials with different lengths is met.

The invention discloses a crawler-type unmanned platform formation control method and system based on adaptive state updating and autonomous formation decision. According to the method, the communication frequency is dynamically adjusted according to the motion state of a platform and the obstacle distance by constructing a state controller for adaptively updating the frequency; an artificial potential field and a formation knowledge base are combined, and a formation mode is selected autonomously according to obstacle distribution and platform speed; a master-slave control architecture is adopted, a master control platform solves a global target position, and the state of a slave control platform is predicted through a consistency formation controller; and a time-varying formation motion controller is introduced to carry out time compensation on the control quantity. The system comprises a sensing module, a state controller, an autonomous decision module and the like, the environment is monitored in real time through a laser radar and a camera, and formation obstacle avoidance behaviors are effectively coordinated in combination with a dynamic rectangular area obstacle judgment mechanism. According to the method, the robustness of formation control in a complex environment is remarkably improved, and the consumption of communication resources is reduced.

The invention discloses a cloth cutting method, a cloth cutting system, electronic equipment and a computer storage medium, and the cloth cutting method comprises the following steps: compiling a graphic file by using an upper computer to generate a processing file, and transmitting the processing file to a motion controller; the motion controller compiles the processing file to generate a control command, and then transmits the control command to the driving assembly, so that the driving assembly drives the cloth cutting assembly to cut the cloth. In this way, the threshold for controlling the cloth cutting assembly to cut the cloth can be lowered, the operation process is simplified, and cost is saved.

The invention relates to a target following method and device, computer equipment and a computer readable storage medium. The method comprises the steps of obtaining environment sensing information of a target environment where the robot is located; target detection is carried out based on the environment perception information, and candidate position information of candidate following objects in the target environment is obtained; responding to a following object indication operation for the robot; determining a target following object corresponding to the robot from the candidate following objects according to the following object indication operation; the target position information of the target following object is sent to a motion controller corresponding to the robot, so that motion strategy planning is carried out through the motion controller according to the target position information, and a target following strategy is obtained; wherein the motion controller comprises a motion control strategy generation model which is trained in simulation environments corresponding to various terrains; and executing the target following strategy through the robot. By adopting the method, the stability and robustness of target following can be improved.

The invention discloses an upper computer software programming framework and an operation method thereof. The operation method of the upper computer software programming framework comprises the following steps: automatically reading a parameter file, and loading executable process steps and corresponding motion controllers based on the parameter file; setting and initializing motion controller parameters and process execution parameters; initializing an input / output point location and a servo driver to enable the motion controller to be in a to-be-received instruction state; configuration of the process template is completed, and the process template is controlled to be executed circularly according to procedure configuration; matching a process processing algorithm corresponding to the process template, and sending a plug-in packaging instruction; based on the process processing algorithm, executing a corresponding instruction through a motion controller driving module, and outputting an execution result; and based on the execution result, triggering a next instruction to the motion controller driving module. And the upper computer software programming framework can be adapted to different motion controllers.

The invention discloses an intelligent PVD (Physical Vapor Deposition) control system for magnetron sputtering. The intelligent PVD control system for magnetron sputtering comprises a configuration unit, a motion controller unit, a sensor control unit and a production state visual interface. And the configuration unit is used for configuring production parameters and a production flow. The motion controller unit is in communication connection with the configuration unit; and the motion controller unit is used for controlling the working states of a plurality of movable parts of the controlled equipment. The sensor control unit can be connected to the motion controller unit in a communication mode, and the sensor control unit is used for obtaining sensing data of at least one sensor of the controlled device. The production state visualization interface is in communication connection with the motion controller unit; and the production state visual interface is used for displaying the control information of the motion controller unit on the movable part and the sensing data of the sensor.

A method for installing and assembling a truss foundation to support a single-axis solar tracker. A positioning subsystem determines an orientation of a machine mast's driving axis relative to an intended drive axis and controls the mast to be positioned so that the mast's driving axis is aligned with the intended drive axis of the screw anchor foundation component. After a pair of adjacent screw anchors are driven, the controller causes motion controllers to orient the mast so that an alignment jig for supporting truss apex hardware is held in place relative to the driven screw anchors at a predetermined point in space above them so that upper leg sections can be sleeved over connecting portions of the apex hardware and down on to the driven screw anchors.