101 results about "Motion error" patented technology

The invention relates to the technical field of two-dimensional motion control, and discloses a high-precision two-dimensional motion error prediction compensation iteration method. The method comprises the following steps: on an operation interface of a motion control system, generating a motion track overview containing a target position sequence and corresponding expected motion parameters according to parameters set by a user, and connecting the motion track overview with an actual motion execution device; measuring the deviation between the actual position and the target position of the motion platform at the current sampling moment, and calculating a motion error vector; constructing a prediction model based on the motion error vector and the expected motion parameter, and predicting a two-dimensional motion error at a future moment through iterative optimization; generating a compensation control instruction according to the prediction result and applying the compensation control instruction to the motion execution device; and monitoring the compensated motion state in real time, updating the prediction model and outputting a compensation log. According to the method, by predicting the error in advance and iteratively optimizing compensation, the two-dimensional motion control precision can be effectively improved, the real-time performance and adaptability of compensation are enhanced, and the method is suitable for a high-precision motion control scene.

The invention discloses a motion error dynamic compensation method applied to a surgical mechanical arm, and belongs to the technical field of surgical mechanical arm control and medical automation. The method comprises the following steps: firstly, acquiring position data of each joint encoder of the surgical mechanical arm, a motor current signal, a position feedback signal of an end effector, load change information and accumulative operation duration in real time; processing the data, fusing the data through adaptive Kalman filtering to estimate a joint dynamic error, inputting a load change rate and an accumulated operation time length into a pre-training error prediction model to output a compensation basic quantity, and fusing the load change rate and the accumulated operation time length to generate a real-time error compensation quantity; and then the compensation amount is superposed to a joint original control instruction to correct motion parameters, and finally the compensated tail end position deviation is analyzed, and a precision identifier or an adjustment prompt is generated and fed back to a control system. According to the method, real-time error compensation is achieved, the compensation precision and working condition adaptability are improved, it is guaranteed that the mechanical arm is stably positioned, and the surgical operation risk is reduced.

The invention relates to a multi-axis cooperative scanning motion control method and system for high-precision scanning imaging, and relates to the technical field of scanning imaging process.The method comprises the steps that in the scanning imaging process, an imaging mechanism model of light tube-sample-flat plate imaging is constructed based on a ray expected track of a ray source, and a light tube-sample-flat plate imaging model is constructed; and analyzing the expected position of the flat panel detector. Then, according to an expected position and a ray expected trajectory, analyzing a motion error and a coupling relationship between the expected position and the ray expected trajectory, and establishing a coupling influence; and according to the coupling influence, a high-precision synchronous motion controller is constructed. Then, kinematics capability limitation and coupling characteristics of each axis are analyzed, coupling mapping and speed constraint are introduced, and a control instruction of synchronous control is updated through speed correction; and finally, performing high-precision synchronous scanning control on each axis motion controller by using the control instruction. Therefore, the full-coverage detection and high-precision imaging of the detected sample are realized by limiting the motion and constraining a zooming synchronous control mechanism.

The invention provides a motion error compensation method and system for a circumferential synthetic aperture sonar platform, and the method comprises the steps: obtaining the position information of an unmanned platform through a GPS, obtaining the attitude information of the platform through an INS, and obtaining the pitching angle of a sonar array through an attitude sensor; the carrying platform performs circumference surveying and mapping, and synchronously records echo data of a sonar array, longitude and latitude data of a GPS, INS azimuth angle data and underwater attitude sensor data; performing joint processing on the data through a data fusion algorithm to obtain the spatial position and attitude parameters of the platform at each time point, and correcting the position and attitude information of the sonar; and performing phase compensation of the signal by using the corrected sonar pose information, and completing projection imaging and focusing reconstruction of the target area by using a synthetic aperture imaging algorithm. According to the method, the problem of imaging blurring caused by platform position errors and attitude deviations in the existing CSAS imaging process is solved, and the underwater target imaging precision and the real-time performance of the system are improved.

The invention discloses a sensor angle optimization method for three-point method rotary table motion error separation. The method comprises the following steps: 1) arranging sensors based on a three-point method error separation principle, and obtaining a weight function G according to a mathematical model of a three-point method error separation technology; 2) screening out an angle combination set A corresponding to the sampling point position of the angle combination of which the weight function modulus value G is not equal to 0; 3) comparing circle contour information obtained by performing error separation calculation on each angle combination in the set A with set circle contour information to obtain an optimal combination; 4) calculating an actual optimal angle combination (alpha, beta) according to the optimal combination and a set sensor error delta theta; the relative error delta f'corresponding to (alpha, beta) is calculated, 5) the relation between the angle error of the sensor and the motion error of the rotary table is obtained according to the delta f 'corresponding to different delta theta, and 6) the optimal angle combination of the three sensors for measuring the error of the target rotary table is obtained according to the obtained relation for the target rotary table.

The invention belongs to the technical field of machine tool control, and particularly discloses a machine tool hydrostatic guideway feeding system motion error compensation method and a storage medium. The method comprises the following steps: measuring and acquiring Z-direction error data of the guide rail; processing the data by Fourier series and fitting a guide rail contour error; inputting load, oil pad geometric parameters and guide rail working parameters; a workbench-guide rail balance equation based on consideration of guide rail contour errors is established, and a Z-direction motion error model perpendicular to the feeding direction of a workbench is calculated to serve as a low-fidelity model; the Z-direction deviation ez'and the coordinate Y of the workbench are measured and obtained to serve as a high-fidelity model; constructing a multi-fidelity model by combining the low-fidelity model and the high-fidelity model based on a CO-Kriging method; and inputting the multi-fidelity model into a numerical control system, reading the position of the workbench in real time, substituting the position into the multi-fidelity model, and calculating and compensating the Z-direction motion error of the workbench. The method has the advantages of being easy to operate, high in compensation precision and good in reliability and flexibility.

The invention discloses an unmanned aerial vehicle-mounted through-wall SAR motion error inversion method based on image sharpness and a GCBP algorithm. In order to solve the problem that SAR images are seriously defocused due to airborne platform motion errors, a traditional self-focusing method is popularized to the field of unmanned aerial vehicle-mounted through-wall SAR, and an accurate unmanned aerial vehicle-mounted through-wall SAR signal model is constructed based on the refraction effect of a wall; motion errors are analyzed from geometric characteristics, frequency dependence characteristics, time-varying characteristics and space-varying characteristics, and an accurate phase error model is constructed by adopting sub-aperture division and sub-band division strategies in combination with a GCBP algorithm; and finally, based on an image sharpness criterion and a motion continuity constraint, realizing accurate estimation of the motion error of the unmanned aerial vehicle-mounted through-wall SAR by adopting a gradient descent method combined with a line search strategy. The actual measurement experiment verifies that the method has good refocusing effect and parameter inversion performance in the field of unmanned aerial vehicle-mounted through-wall SAR (Synthetic Aperture Radar).

This invention discloses a high-precision phase recovery method for tooth surface fringe images during gear rotation. The method first establishes an N-step static phase-shift image dataset of the gear at subdivided rotational positions. When constructing network training data pairs, three image combinations with different position indices and phases satisfying the standard three-step phase shift are selected to generate an input sequence simulating unidirectional rotation and motion errors. The high-precision sine and cosine terms calculated using the N-step static images are used as labels. Secondly, an encoder-decoder deep neural network with a bottleneck layer dual attention mechanism and global residual connections is constructed and trained using an adaptive loss function. Finally, the dynamic image to be tested is input into the network to directly predict the sine and cosine terms, calculating the wrap-around phase without motion artifacts. This invention effectively suppresses motion errors caused by gear rotation, contributing to the high-precision reconstruction of the three-dimensional morphology of the tooth surface.

The invention discloses a motion execution mechanism error determination method and device, equipment and a storage medium. The method comprises the following steps: acquiring instruction data corresponding to a motion control instruction of a motion execution mechanism; collecting displacement data of the motion execution mechanism in the process of executing the motion control instruction; and determining the motion error of the motion execution mechanism according to the instruction data and the displacement data. According to the scheme, an error analysis mechanism based on the instruction data and the actual displacement data is introduced, so that the motion performance of the motion execution mechanism is accurately evaluated and quantified. According to the scheme, the positioning precision and the overall operation stability of the motion executing mechanism can be remarkably improved, and the requirements of scenes such as high-precision industrial automation, robot operation and precision machining can be met.

A material conveying mechanism of a microcapsule pre-coating fastener comprises a material conveying rail, a base, a lifting sliding block, a driving motor set, a wheel disc, a connecting rod, a first intercepting rod and a second intercepting rod, and the first intercepting rod and the second intercepting rod on the lifting sliding block are driven by a crank connecting rod mechanism to be alternately inserted into the two sides of the moving direction of the fastener. And an integrated linkage scheme of the same power source is formed. Compared with the prior art that two sets of air cylinders need to be controlled by programs, hardware needs to be continuously adjusted, and the running state of the hardware needs to be detected, the integrated linkage scheme is simpler and more reliable, and the problem of alternating motion errors is solved.

The application discloses a kind of path planning methods for realizing Z-axis orientation constraint based on mechanical arm SDK, it is related to industrial robot control field, the path planning methods for realizing Z-axis orientation constraint based on mechanical arm SDK, including target positioning, path planning and analysis, split mechanical arm operating track and dynamically solve Z-axis optimal parameter, visual detection and posture real-time adjustment and transport data record analysis, relies on the real-time visual data of positioning detection system acquisition, realizes Z-axis pose dynamic monitoring, based on solving data, call mechanical arm SDK combined with Cartesian planning algorithm, real-time adjustment Z-axis orientation and end handling component posture and speed, can promptly correct motion error, the Z-axis deviation caused by workpiece deviation, combined with moveit2 frame collision detection capability and SDK fast response capability, realize the path planning method for Z-axis orientation constraint, effectively avoid collision risk, improve the stability and security of mechanical arm operation.

The invention relates to the technical field of microelectronic assembly equipment control, and discloses a chip pin alignment calibration method based on machine vision, comprising the following steps: establishing a real-time motion error model representing mechanical positioning errors, and obtaining pin polar coordinates through partition extraction; a tangential margin is deducted from the theoretical region to construct a static tolerance window; performing morphological erosion and parallel simulation on the static window at a multi-stage speed by using an error boundary output by the model, and calculating a full-pin dynamic window geometric intersection; and according to the intersection non-empty state, the optimal speed and the target coordinate are decided, equipment mounting is driven, and thermal drift parameters are updated based on an observation residual closed loop. According to the method, the real-time motion error model containing thermal drift compensation is constructed, dynamic morphological erosion based on the mechanical positioning error boundary value is executed on the static window, the effectiveness of mounting coordinates in different thermal states is guaranteed, and dynamic decoupling of precision and speed is achieved.

A device for monitoring a patient determines a set of predicted physiological variables using a model trained from physiological variables collected from the patient. The device receives a set of measured physiological variables and a motion measurement. The device compares the set of measured physiological variables to the set of predicted physiological variables to determine a residual vector. The device classifies the residual vector using a vector motion error based on the motion measurement, and performs an action based on the classification of the residual vector.

The invention discloses an ultra-wideband radio communication signal processing method based on motion error compensation, which relates to the technical field of communication signal processing, and comprises the following steps: establishing a continuous time chain for an area where the motion speed of a target changes suddenly in a dynamic propagation scene, and calibrating an energy peak transition point in a continuous time chain based on a time sequence of signal energy distribution, and extracting a kick starting point through time segmentation. By establishing a continuous time chain and introducing energy peak transition point calibration, time sequence continuity and energy smooth transition of a propagation path during speed sudden change are realized, and time drift caused by path index disorder is effectively avoided; and meanwhile, self-adaptive adjustment of the anchor point spacing is realized through breathing type time anchor scheduling, so that the path index keeps convergence in a high-dynamic environment, and the space-time consistency and the positioning precision of the ultra-wideband signal are improved.

The displacement compensation device comprises an inner plate and a pressing plate, a servo motor is arranged on the upper surface of the inner plate, a driving rod is arranged between the inner plate and the pressing plate, the bottom of the driving rod is installed on the pressing plate, and the top of the driving rod is installed on the inner plate and penetrates through the inner plate to stretch out and draw back up and down; an output shaft, penetrating through the inner plate, of the servo motor is connected with the driving rods in a meshed mode through a transmission gear set, a movable telescopic rod is arranged between the inner plate and the pressing plate, and a load sensor is arranged in the middle of the movable telescopic rod. The displacement compensation device is mounted in the Z-pin implantation head, and the load sensor is mounted in the middle of the motion telescopic rod, so that a corresponding signal feedback threshold value can be set for the load sensor to control an actual displacement compensation value; therefore, the Z-pin implanting head always keeps proper pressing between the pressing plate and the surface of the composite material in the Z-pin implanting process.

This invention discloses a six-degree-of-freedom motion error measurement system and method for a rotating axis. The system includes a rotating axis and angular position error measurement components and tilt motion and radial runout error measurement components respectively connected to the rotating axis. The tilt motion and radial runout error measurement components include a first laser optical path and also include an axial runout error measurement component, which is integrated into the first laser optical path. The six-degree-of-freedom motion error measurement system of this invention has a simple structure, occupies little space, and is easy to operate. It can accurately measure two tilt motion errors, two radial runout errors, angular positioning errors, and axial runout errors.

The application relates to a kind of automatic cutter setting method and system based on machine vision, belong to milling cutter setting technical field.The method first locates the initial position coordinate of milling cutter, and plans the initial cutter setting path of milling cutter in combination with target cutter setting position coordinate;Then the image of milling cutter in initial cutter setting path is acquired to carry out image denoising and image deblurring processing, after obtaining second image, carry out edge detection, extract the edge profile of milling cutter, and calculate the edge point subpixel coordinates of profile to carry out parameterized fitting, obtain current milling cutter position and milling cutter attitude;And the initial cutter setting path, the wear degree of milling cutter, current milling cutter position and milling cutter attitude are input into error prediction model, and the current motion error of milling cutter is predicted;According to the current motion error of milling cutter, the path compensation amount is calculated, and the cutter setting path of milling cutter is adjusted according to the compensation amount.The application can reduce the interference of milling cutter motion blur and environmental factors, realizes the quantitative adjustment and correction of milling cutter setting.

Provided are a kinematic error calibration method, apparatus, storage medium, and program product wherein the method comprises: determining phase information for phase modulation of a first reflector and a second reflector, the phase information varying with time, the phase information being used for phase modulation of the first reflector and the second reflector; the absolute value of the difference value between the moving distance of the second equipment along the gradient direction of the interference pattern and the moving distance of the interference pattern in the space caused by the change of the phase information is less than half of the space period of the interference pattern, the interference pattern indicates the distribution of the amplitudes of interference signals generated by the first reflector and the second reflector in the space; first configuration information and second configuration information are sent based on the phase information, the first configuration information is used for configuring the phase corresponding to the first reflector, and the second configuration information is used for configuring the phase corresponding to the second reflector, so that the problem of fuzzy position of the second equipment is solved, and the accuracy of determining the position of the second equipment is improved.

The embodiment of the invention provides a precision optimization distribution method and system for an ultra-precision grinding machine. The method comprises the steps that the topological relation between moving parts of a machine tool is determined; based on the topological relation, constructing a machine tool motion error model representing the motion error of the motion part; based on the machine tool motion error model, determining the influence of the motion error item of each motion axis of the machine tool on the element surface shape precision; based on the influence of the motion error term of each motion axis on the element surface shape precision and the motion error term, constructing a machine tool precision optimization distribution model; and distributing the precision of the machine tool based on the machine tool precision optimization distribution model and the element surface shape precision requirement of the machine tool. According to the method, the machine tool motion precision index meeting the element machining precision can be determined, and the development cost of the ultra-precision grinding machine tool is reduced.

The invention provides a crossed ball guide rail workbench five-degree-of-freedom motion error analysis method, which comprises the steps of establishing a skin surface model based on part tolerance information and plane feature information, obtaining displacement spinor through constraint registration simulation, establishing a Jacobian matrix based on an assembly structure, and constructing a Jacobian skin surface model in combination with spinor information, calculating to obtain pose offset information of left and right guide rails and a slide rail in the guide rail pair, determining a space pose of a guide rail system in a global coordinate system by combining an actually measured raceway shape error, substituting the space pose into a crossed ball guide rail error model established based on a Hertz contact theory and static balance, and obtaining a five-degree-of-freedom motion error of the slide table through iterative solution. And finally, carrying out key error sensitivity analysis by adopting Monte Carlo simulation and a difference method. According to the method, the error transmission relation from the base to the working table function point can be accurately analyzed, the influence degree of the part tolerance on the motion precision is revealed, and an important reference basis is provided for design and assembly of the precise working table.

The embodiment of the application provides a kind of indoor-oriented robot positioning method, electronic equipment, positioning system and medium, belong to robot control technical field.The method comprises: obtaining target line drawing track, and its pose data planning is carried out, obtains the target pose data of multiple time steps.Then the distance data between laser range finder and line laying robot and the laser point coordinate matrix of laser point are acquired, and pose data calculation is carried out according to laser point coordinate matrix and distance data, obtains the initial pose data of line laying robot relative to laser range finder at target time step, then according to initial pose data and target pose data of target time step, error calculation is carried out, and motion error data is obtained.Then the control signal generation is carried out to motion error data by preset prediction motion model, and the expected offset signal is obtained.Finally, according to the expected offset signal, line laying robot is moved.The embodiment of the application can realize the accurate line laying in room.

A parallel robot modeling method considering omni-directional motion error of flexible joint comprises the following steps: S1: defining mechanism end output pose, and establishing kinematics model of robot based on closed loop vector method; S2: combining motion variable of flexible joint to construct flexible joint output pose, and the motion variable comprises displacement amount and rotation angle amount of flexible joint in non-functional direction; S3: establishing local coordinate system in each flexible joint and moving joint in branch chain, and constructing homogeneous coordinate transformation matrix and transmission relationship among each matrix; S4: constructing mapping relationship between motion variable of each flexible joint and end output pose; S5: constructing force and torque balance equation of each flexible joint and moving joint in branch chain; S6: solving end output pose of mechanism by simultaneously solving each equation.The present application considers motion error of flexible joint in non-functional direction, establishes robot model with higher precision, and ensures operation precision and reliability of robot.

The invention belongs to the technical field of displacement measurement, and particularly discloses a visual three-dimensional displacement measurement method based on an unmanned aerial vehicle, and the method comprises the following steps: collecting images of a to-be-measured structure before and after displacement; unmanned aerial vehicle motion compensation is carried out, pixel-level unmanned aerial vehicle motion errors are eliminated, a preliminarily processed image is obtained, and the image comprises displacement of the to-be-measured structure and sub-pixel-level displacement errors introduced by unmanned aerial vehicle motion; in combination with a sampling Moire method and industrial camera calibration, carrying out sub-pixel-level displacement measurement on the preliminarily processed image to obtain displacement data including displacement of the structure to be measured and sub-pixel-level unmanned aerial vehicle motion errors; and performing sub-pixel-level motion compensation on the displacement data to obtain sub-pixel-level error data introduced by the motion of the unmanned aerial vehicle, and subtracting the sub-pixel-level error data introduced by the motion of the unmanned aerial vehicle from the displacement data to obtain final displacement data. According to the invention, three-dimensional displacement measurement can be realized, the measurement precision is improved, and the accuracy of a displacement measurement result is ensured.

Provided are two guide rails (15, 16) arranged in parallel along a feed direction, sliders (17, 19, 21, 23) provided on the guide rails (15, 16), a moving table (3) on which the sliders (17, 19, 21, 23) are mounted and which moves along the feed direction, and a driving mechanism (11) that moves the moving table (3). Further, provided are a scale arranged on the guide rails (15, 16) along the feed direction, reading heads (18, 20, 22, 24) provided on the sliders (17, 19, 21, 23) respectively and reading information provided to the scale, detecting positions in the feed direction and positions in a direction orthogonal to the feed direction, and a motion error calculation unit (70) that calculates a motion error of the moving table (3) based on position information in the two directions detected by the reading heads (18, 20, 22, 24).

This invention discloses a composite measurement method, device, system, medium, and program product. By integrating global multi-view visual positioning and local fringe projection measurement technology, it accurately corrects the motion error of an industrial robot using externally measured pose. First, it completes multi-dimensional accurate calibration of local measurement, global positioning module, and hand-eye coordination, constructing a high-precision unified global coordinate system covering the entire measurement space. Then, through hardware triggering, it achieves strict spatiotemporal synchronization of local 3D topography data and robot end-effector global pose data, and combines intelligent path planning to complete a full-coverage scan of large-size structures, calculating the high-precision six-DOF global pose of the robot end-effector detached from its own sensing system. Subsequently, it accurately converts the local point cloud to the global coordinate system and completes seamless stitching and fusion of noise reduction, coarse registration, and fine registration, realizing high-precision, high-efficiency, and automated 3D topography measurement of large-size structures, ensuring the global consistency and accuracy reliability of the measurement results.

The invention provides a heavy-load train positioning correction method based on error state estimation. The method comprises the following steps: acquiring motion state data of a heavy-load train; inputting the motion state data into a pre-constructed error state prediction model to obtain a motion error state of the heavy haul train; the error state prediction model is obtained by training based on sample motion state data of a sample heavy haul train and a mixed loss function, the mixed loss function comprises a data loss function and a physical constraint loss function, and the physical constraint loss function is constructed based on a preset train motion joint error state updating differential equation; dynamically correcting the motion error state based on the observed value of the error state of the motion state of the heavy-load train; and correcting the motion state data of the heavy haul train based on the corrected motion error state to obtain corrected motion state data. According to the invention, the real-time performance, accuracy and stability of train positioning can be improved.

The application discloses a focusing calibration method and an exposure compensation method with an automatic focusing function, determines the relationship between the movement amount of an AF mechanism and the change amount of a platform focal plane, and specifically comprises the following steps: arranging the AF mechanism below an exposure lens, moving a suction disc camera on the platform to be directly below the exposure lens, determining the optimal focal plane position Z of the platform through the suction disc camera m ; determining the relationship between the movement amount of the AF mechanism and the change amount of the platform focal plane, obtaining the relationship model between the focusing position of the AF mechanism and the change amount of the platform focal plane, thereby ensuring the accuracy of the focal plane compensation of the AF mechanism, eliminating the different influences of machining errors and movement errors and movement amounts on the focal plane, and preventing the phenomenon that the difference between the theoretical compensation surface and the actual compensation surface is different.

The application provides a synthetic aperture radar range-aperture space-variant motion compensation method based on linear scaling, which adopts the first step of consistent compensation in two-step motion compensation to compensate for main distance non-space-variant motion error components of panoramic echo, obtains distance pulse pressure target migration curve image data, calculates sub-aperture bandwidth parameters by using image minimum defocus principle, and first-order Taylor expansion of residual range-aperture space-variant error, further introduces linear scaling in two-dimensional time domain to compensate for constant components and linear components, synchronously completes residual azimuth phase error compensation, finally splices sub-aperture data time domain to form ideal echo data without motion error, and outputs final panoramic image through traditional imaging processing. The application realizes high-precision residual range-aperture space-variant motion error compensation, has simple principle, is suitable for airborne and missile-borne platforms with complex trajectories, has high accuracy and strong robustness, and has high practicability.

The invention discloses a foot end slip detection and compensation method for a six-wheeled composite robot, and relates to the technical field of anti-slip of robot movement. The method mainly comprises the three steps that firstly, a sliding detection model is built based on a long short-term memory (LSTM) network model, and the model predicts the sliding amount of each foot end only by taking error information of an actual motion state and an expected state of a fuselage as input; secondly, according to the predicted slip amount, obtaining an instantaneous steering center and a compensation rotation angle generated by slipping of the robot through geometric calculation; and finally, according to the calculated steering parameters, the robot is controlled to execute pure rolling steering motion, a supporting polygon is reconfigured through the strategy that the non-slipping swing legs fall down and the slipping legs are lifted up, and motion errors are compensated in real time. The method has the beneficial effects that the hardware cost is low, the system is light in weight, the real-time performance and the self-adaptability are high, and the motion stability of the robot on the complex terrain can be effectively improved.