50 results about "Motion controller" patented technology

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.

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.

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 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.

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.

The utility model discloses a multi-angle rotating mechanism for a robot head, and relates to the technical field of robots. Comprising a base, a head motion controller is installed on the lower portion of the base, a first servo motor is installed on the upper portion of the base, a main synchronous belt wheel is installed at the output shaft end of the first servo motor, an auxiliary synchronous belt wheel is installed on the upper portion of the base through a bearing, and the auxiliary synchronous belt wheel is in transmission connection with the main synchronous belt wheel through a synchronous cog belt. According to the multi-angle rotating mechanism for the robot head, the head fixing plate is used for installing the robot head, the angle of the rotary table can be adjusted in the radial direction through the arrangement of the first servo motor, the main synchronous belt wheel, the auxiliary synchronous belt wheel and the adapter plate, and therefore the robot head can imitate the head of the human body to swing front and back, and head raising and head lowering actions of the robot are achieved; the automation degree of the robot is improved, and meanwhile, by arranging an electromagnetic chuck and a head fixing plate, the head of the robot can be disassembled, assembled and maintained very conveniently.

Provided in the present application is a motion controller for a head-mounted display device. The motion controller may comprise a grip portion and an operation portion, wherein the grip portion can be configured to be gripped by a hand in the direction of length of the grip portion; the operation portion can be connected to the end of the grip portion in the direction of length of the grip portion; the operation portion can be provided with a first button and first locators; the grip portion can be provided with a first finger separator and a second locator; the first finger separator may be disposed on the grip portion; and the distance between the second locator and a tail portion may be less than the distance between the first finger separator and the tail portion, such that mutual interference between the first locators and the second locator can be effectively avoided, thereby better acquiring a second positioning signal and first positioning signals. When the motion controller is in use, fingers of a user are positioned and limited by means of the first finger separator, thereby effectively restricting the user's grip position on the grip portion, effectively preventing the occlusion of the second locator, and effectively minimizing the occlusion of the second locator by the user, such that the head-mounted display device better determines the position and orientation of the motion controller.

This application relates to the field of robotics, and particularly to a visual servo control method and device based on heterogeneous joint segmented motion decomposition. The method includes: processing target pose measurement data stepwise to obtain target pose deviation data; planning the desired joint angle motion endpoint of the agile arm in subsequent target cycles, and planning the joint motion data of the agile arm in subsequent target cycles during the online phase in an offline phase; converting the joint motion data into motor motion data, and segmenting the motor motion data within subsequent target cycles to control the agile arm to perform corresponding visual servo control actions using the segmented motor motion data. This application can subdivide and interpolate the planned motion data according to the control cycle of the underlying motor motion controller, achieving efficient and accurate visual servo control. Furthermore, it allows for the development of multi-threading for visual servo planning calculations, with offline planning performed in the main thread, offering high flexibility and practicality.

The invention discloses a mechanical arm kinematics modeling and motion control method, device and system. The mechanical arm comprises N joints connected in series and a sand disc connected to the tail end, and a radial distance R exists between the working edge of the sand disc and the tail end arm section. The kinematics equation construction method comprises the following steps: determining a working edge reference point of a sand disc as a motion control target; based on mechanical structure parameters, joint variables and a radial distance R of the mechanical arm, forward and inverse solution equations of the kinematics position, speed and acceleration of a working edge reference point are deduced. The motion control method comprises the following steps: acquiring a discrete expected position, speed and acceleration point; calculating an expected joint angle, angular velocity and angular acceleration by using a position inverse solution equation, a velocity inverse solution equation and an acceleration inverse solution equation in sequence; and giving a calculation result to a multi-axis motion controller in real time. According to the method, the radial distance of the sand disc is incorporated into the kinematics model, feedforward control of three levels of position, speed and acceleration is achieved, and the motion control precision of the non-standard mechanical arm is remarkably improved.

The invention relates to the technical field of insulator detection, and discloses an intelligent motion control method and system applied to an insulator detection device, and the method comprises the steps: controlling a joint of a mechanical arm to execute a preset excitation instruction when the mechanical arm of the insulator detection device is in an idle state, and synchronously collecting the real-time operation data of the joint; analyzing the real-time operation data to determine a motion response characteristic parameter of the current joint, and comparing the motion response characteristic parameter with a reference parameter of the joint in an initial state to identify a motion response characteristic deviation of the joint; and according to the motion response characteristic deviation, motion controller parameters of the joints are adjusted, so that the mechanical arm executes follow-up operation tasks based on the adjusted controller parameters. According to the invention, a self-adaptive control mechanism based on online parameter identification and thermal state sensing is introduced for the insulator detection device, and the precision, reliability and self-adaptive capability of the robot in motion in a complex high-altitude environment are remarkably improved.

The present application belongs to the technical field of food processing, and particularly relates to a meat weight setting and shape setting cutting method. The method collects meat contour data through a 3D camera, calculates the total weight in combination with a preset average density; converts 3D point cloud data into a 2D projection image, determines a maximum inscribed rectangle through a rotation matrix iteration of a rotation angle; adjusts the size of a cutting frame according to a preset specification, calculates the weight after cutting in combination with height, length and step length, and optimizes according to a duty cycle dynamic frame shrinking; and finally, a motion controller drives a cutting head to complete automatic cutting in combination with a conveyor belt encoder position. The present application realizes precise and efficient cutting of meat weight setting and shape setting, improves raw material utilization and automation, and is suitable for diversified product specification requirements.

The application relates to the field of general motion controllers, in particular to a PCIE-based communication protocol data interaction method, which is characterized in that a PC end connected with a PCIE driving module is taken as a master end of a communication protocol, an embedded device connected with the PCIE driving module is taken as a slave end of the communication protocol, and the master end and the slave end are respectively divided into an application layer protocol and a transmission layer protocol, so that the communication between the PC and the device is realized without relying on a specific hardware structure, the bandwidth is larger, the performance is higher, the fast transplantation based on different transmission layers is realized, and the response speed of the communication is improved.

This invention relates to an optical path control system and method for a SERF atomic magnetometer. The system utilizes photoelectric detection data and visual image data generated by a photoelectric detection module and a visual detection module. A data fusion processing module calculates the optical path deviation and generates control commands, which are then transmitted to a motion controller. The motion controller controls a multi-degree-of-freedom adjustment structure to adjust the beam waist position, pitch angle, yaw angle, parallel offset, and polarization direction of the probe light, achieving intelligent adjustment of the SERF atomic magnetometer's optical path. Furthermore, the photoelectric detection module and the visual detection module simultaneously acquire spatial and intensity information of the probe light, enabling precise location of the deviation source and overcoming the limitation of pure photoelectric detection (a black box method) which cannot invert deviations.

The invention provides an organic light emitting diode screen terminal area film tearing device and a film tearing method.The film tearing device comprises a fixed adsorption platform, a film tearing actuator and a motion controller, the film tearing actuator comprises a three-axis servo module, an ejector pin module and an air cylinder clamping jaw module, the three-axis servo module drives the ejector pin module and the air cylinder clamping jaw module to move, and the ejector pin module drives the air cylinder clamping jaw module to move; the motion controller is electrically connected with the three-axis servo module, the ejector pin module and the air cylinder clamping jaw module, the motion controller controls the ejector pin module to jack up the film layer, and when the jacking pressure of the ejector pin module on the film layer reaches a set threshold value, the motion controller controls the ejector pin module to jack up the film layer. The air cylinder clamping jaw module is controlled to move to clamp and strip the film layer, the film tearing precision is improved, and the technical problems that in the prior art, the film tearing precision is low, and a precise circuit in a terminal area can be scratched in the film tearing process are solved.

This invention discloses a motion control method and system for an underwater pipeline inspection robot. The method includes: calculating the robot's current actual motion state based on original observation data; using inspection quality indicators as input, substituting them into an observation model, and inversely solving to obtain the optimal inspection pose that satisfies the inspection quality indicators, thereby obtaining the ideal motion state; comparing the ideal motion state with the actual motion state to calculate multi-dimensional control errors; inputting the multi-dimensional control errors into a PID controller to generate fuzzy adaptive control variables for different actuators, and inputting them into a PMAC multi-axis motion controller; combining dynamic constraint models and geometric constraints to perform multi-axis interpolation planning and generate servo control pulses; collecting observation data from sensor modules in real time driven by the servo control pulses and updating the current actual motion state. This invention improves the reliability and inspection accuracy of underwater pipeline inspections in complex environments.

A method (200) for creating a motion controller (230) for a motor vehicle (105) comprises steps of capturing (205) physical parameters of the motor vehicle (105); detecting (210) a selection from a multiplicity of predetermined functional modules (215); a functional module (215) implementing a predetermined aspect of a motion controller (230) of a motor vehicle (105); and integrating (225) the selected functional modules (215) into a motion controller (230) on the basis of the parameters, such that the motion controller (230) implements the aspects of the selected functional modules (215).

This invention discloses a non-contact device and method for inspecting the appearance of the inner surface of a hole. The device can be functionally divided into a motion control section and an image acquisition section. The motion control section includes a single-axis displacement stage, a single-axis rotary stage, a two-dimensional alignment stage, and a motion controller. The image acquisition section includes an industrial microscope head, an industrial camera, a video tube, and an LED lighting source. The measurement process includes the following steps: 1) calibrating the measuring device using a high-precision optical resolution plate; 2) calibrating the two-dimensional alignment stage using circular markers; 3) calibrating the rotation center position using a laser; 4) aligning the hole to be measured with the probe based on the calibration results; 5) initiating automatic image acquisition and stitching; and 6) calculating the actual size of the defect and its position within the hole. This invention can achieve panoramic defect inspection of the inner wall of blind holes or countersunk holes with diameters of 4mm-8mm and depths <45mm.

The invention provides a motion platform control system, a motion platform control method, a storage medium and a device, and relates to the technical field of motion control. The motion platform control system comprises a motion controller and a plurality of grating rulers, the grating rulers are all installed on a motion platform, the motion platform comprises a rotor moving in the first direction, and the grating rulers are arranged in the second direction perpendicular to the first direction and arranged in parallel. The motion controller is connected with the plurality of grating rulers, the plurality of grating rulers comprise a first grating ruler and a second grating ruler, and the motion controller is configured to obtain a first feedback reading of the first grating ruler and a second feedback reading of the second grating ruler. And according to the first feedback reading, the second feedback reading and the installation spacing, determining the Abbe error of the to-be-measured position on the rotor in the first direction. And controlling the motion platform to perform Abbe error compensation on the motion of the to-be-measured position in the first direction based on the Abbe error. According to the embodiment, the control precision of the motion platform can be improved.

The application discloses an intelligent variable-diameter peristaltic pipeline robot, which comprises a body, a decision layer mechanism, a sensing layer mechanism and a plurality of execution layer mechanisms are arranged on the body, the decision layer mechanism comprises a main control system, a motion controller and a force closed-loop controller; the sensing layer mechanism comprises a force sensing module, an environment sensing module and a posture sensing module; a plurality of the execution layer mechanisms are distributed along the circumferential annular array of the body, each of the execution layer mechanisms comprises an active variable-diameter module, a peristaltic module and a dredging module, and the dredging module comprises a support fixedly installed on the body, a rotating seat and a plurality of nozzles. The application has the beneficial effects that the self-adaptation to complex pipe diameters and environments, the closed-loop accurate control of contact force and the high-efficiency dead-angle-free dredging operation can be realized, the passability, the intelligent level and the operation efficiency of the pipeline robot are remarkably improved, and the application has high practical value and wide application prospect.

The utility model relates to the technical field of direct current motors, in particular to a direct current motor control circuit, which comprises a main control circuit, communication circuits, an input detection circuit, a direct current motor control circuit and a power supply circuit, the output end of the input detection circuit is electrically connected with the signal end of the main control circuit, and the control end of the main control circuit is connected with the input end of the direct current motor control circuit. The motion controller controls the direct current motor control circuit, long-distance and multi-node transmission and receiving of data are achieved through the communication circuit, and the input detection circuit can convert the level of an external digital quantity signal into the signal level in the main control circuit. And the direct current motor control circuit is used for converting the control signal of the main control circuit into a signal required for driving external equipment, so that accurate and rapid control of the direct current motor is realized.

The invention relates to a method for controlling a vehicle by means of a central motion controller, wherein the central motion controller detects at least one motion request and vehicle dynamic parameters and, based on the motion request and the vehicle dynamic parameters, determines control variables for vehicle motion actuators and sends them to the actuators. To improve the driving experience, the central motion controller also controls user experience functions, devices, and / or applications.

The invention provides a motion control system, a control method and device thereof, a storage medium and a servo motor, and relates to the technical field of motion control systems. The motion control system comprises a motion controller; the slave station equipment is in communication connection with the motion controller, and the slave station equipment comprises a micro-control unit and a flash memory chip; the selector is in communication connection with the motion controller, the micro-control unit and the flash memory chip; wherein under the condition that the motion control system receives a firmware upgrading instruction, the selector switches the motion controller to perform read-write operation on the flash memory chip, and the motion controller writes a firmware program corresponding to the firmware upgrading instruction into the flash memory chip; and after the motion controller writes the firmware program into the flash memory chip, the selector switches the micro-control unit to perform read-write operation on the flash memory chip, so that the micro-control unit reads and runs the firmware program. According to the method, the software development cost is reduced, and meanwhile, the storage space of the flash memory chip can be saved.

The invention provides a Hall point measurement method based on circular interpolation motion, and belongs to the technical field of magnetic field measurement. The method comprises the following steps: when a motion controller executes an arc interpolation algorithm to drive a Hall probe to perform arc interpolation motion, the motion controller outputs a synchronous trigger signal according to a preset spatial sampling interval; and in response to the synchronous trigger signal, acquiring and processing the Hall voltage output by the Hall probe through a Hall voltage acquirer to obtain magnetic field data corresponding to the preset spatial position of the magnet to be detected.

The application relates to a dynamic precision compensation control method based on an intelligent PCB drilling machine, which comprises the following steps: collecting a dynamic parameter set in real time through a multi-source sensor group installed on a drilling main shaft, the dynamic parameter set comprising displacement deviation caused by main shaft axial deformation, thermal deformation quantity analyzed based on interlayer temperature gradient, and frequency spectrum features reflecting tool-material coupling vibration, dynamically synthesizing a spatial trajectory correction instruction and a motion parameter optimization instruction according to the multi-dimensional compensation vector and current drilling process parameters, wherein the trajectory correction instruction is reconstructed through a B-spline curve to realize real-time interpolation of a path, a motion controller receives the spatial trajectory correction instruction and the motion parameter optimization instruction, at least three compensation iterations are completed in a single drilling cycle, a linear motor and a main shaft motor are driven to execute online precision compensation, and the compensation instruction execution delay is less than 2 ms.