41 results about "Motion optimization" patented technology

A robot collision avoidance motion optimization technique using a distance field constraint function. CAD or sensor data depicting obstacles in a robot workspace are converted to voxels, and a three-dimensional binary matrix of voxel occupancy is created. A corresponding distance map matrix is then computed, wherein each cell in the distance map matrix contains a distance to a nearest occupied cell. The distance map matrix is used as a constraint function in a motion planning optimization problem, wherein the optimization problem is convexified and then iteratively solved to yield a robot motion profile which avoids the obstacles and minimizes an objective function such as distance traveled. The distance field optimization technique is quickly computed and has a computation time which is independent of the number of obstacles. The disclosed optimization technique is easy to set up, as it requires no creation of geometry primitives to approximate robot and obstacle shapes.

A system for an excavating machine comprises a control system operating aspects of the excavation machine; and a monitoring system receiving inputs from one or more sensors determining if the excavating machine is in a first state or a second state. In operation, if the excavating machine is in the first state, then the control system enables the excavating machine to perform a first action; or if the excavating machine is in the second state, then the control system disable the excavating machine to perform the first action.

The invention discloses a motion optimization based self-instruction generating method for imaging satellite, a method of converting multiple meta-tasks into on-satellite manipulation-level instructions. According to the method, firstly, based on the motion information equipped to the meta-tasks and the timing sequence relationships among the meta-tasks and through the use of the greedy algorithm, the same type of motions of opening and closing the machine between two adjacent meta-tasks are maximized. Therefore, the execution complexity of software is reduced; the motion sequence of the satellites is effectively planned. And according to the motion sequence and the working state of the current satellite's equipment (for instance, sequestration uses backup to save, digital transmission servo uses the original, and etc.), the corresponding manipulation-level instructions are specified so as to effectively make the satellites more operational, achieve better efficiency and provide technical support to enable the single orbit of agile satellites to complete multiple tasks. In addition, according to the method, abstract definitions are made between the meta-tasks and their corresponding motion information as well as between the timing sequence relationships of the meta-tasks, which allows a user to define themselves. Therefore, the method is very flexible and universal and can be applied to various remote sensing satellites.

The invention discloses a bionic robot arm motion solving and configuration control method; the method utilizes structure features of the robot arm of said type, solves integral motions of the robot arm on the corresponding human arm, and maps the integral motions back to joint spaces of the robot arm for execution. The motion solving method does not rely on the real joint arrangement of the bionic robot arm, can form consistent motions for the bionic robot arms with different joint arrangements yet same arm lengths of big arms and forearms; the method can keep a motion optimization capability, can simulate human in a task processing mode, thus better forming human-like motions. The configuration control method is proposed according to theories in the motion solving method, can control thecomplete configuration of the bionic robot arm, thus ensuring the consistency of the bionic robot arm from motion planning to motion control.

The invention provides a terminal state restricted planet type hybrid power system global optimization method, and belongs to the technical field of new energy vehicles. The method comprises the stepsthat before DP backward motion optimization, system boundary calculation is carried out, an dboundary restriction of a state variable of every moment is obtained, so that the boundary restriction isconsidered in the backward iterative optimization process, and electric quantity balance of the system is achieved. By means of a solution of the boundary restriction, no penalty function is needed, and a large amount of debugging work conducted in order to achieve the electric quantity balance is avoided; meanwhile, robustness of an algorithm is no longer affected by model parameters and operation conditions, the amount of calculation and the time cost are lowered, and the efficiency of optimizing the algorithm is significantly improved.

The present invention provides a method for optimizing the axis motion of a six-axis robot in a three-dimensional printing device, comprising the following steps: step S1, collecting the structural lattice model data of the 3D model to be printed; step S2, importing the structural lattice model data In the 3D printer, step S3, selecting the axis joint to be optimized; step S4, defining the target point to be printed in the structural lattice model data as the target origin coordinate P; step S5, comparing the target origin coordinate P with the axis to be optimized A mechanical transformation structural formula is established between the joints; step S6, according to the action angle required by the shaft joints, the movement trajectory angle of the print target origin coordinate P is reversed from the mechanical transformation structural formula. The invention discloses a convenient and stable axis motion optimization method suitable for a six-axis robot in a three-dimensional printing device.