139 results about "Motion synchronization" patented technology

The invention relates to the technical field of solar cell processing, in particular to a laser light-transmitting scribing control method and system for a solar thin-film cell. The control method comprises the steps that a large-size substrate is divided into a plurality of galvanometer view fields through a dynamic flight continuous machining mode, a continuous snake-shaped machining path is generated, the laser machining platform is driven to continuously move at the constant speed, and the galvanometer scanning system is synchronously triggered to start lineation in a splicing area in advance. According to the method, a time domain coupling equation of galvanometer scanning frequency-platform movement speed-laser pulse sequence is established, and dynamic compensation of an optical path and self-adaptive adjustment of energy density are achieved in the continuous machining process. Based on a view field expansion algorithm of a nonlinear kinematics model, the phase deviation of a scanning vector and a motion vector is effectively inhibited, and the geometric continuity of a splicing interface in ultra-long stroke machining is guaranteed.

The invention provides a synchronous shaft motion tracking control method and system in the technical field of synchronous shaft motion control. The method comprises the following steps: S1, establishing connection between a PLC (Programmable Logic Controller) and I-O equipment and a servo driver of each test equipment; step S2, the PLC configures each piece of I O equipment, and creates an FB function block based on each piece of configured I O equipment; s3, the PLC creates a virtual shaft as a driving shaft, and takes each entity shaft as a driven shaft; s4, the PLC configures process object parameters of the driving shaft; s5, the PLC controls the driving shaft to move based on the FB function block and the process object parameters, and synchronously controls the driven shafts to run along with the driving shaft; and S6, the PLC collects slave shaft operation data of each driven shaft, obtains main shaft operation data of the driving shaft based on the FB function block, compares the slave shaft operation data with the main shaft operation data to obtain deviation data, and dynamically compensates each driven shaft based on the deviation data. The method has the advantage that the precision and the stability of synchronous shaft motion control are greatly improved.

The invention relates to the technical field of man-machine interaction, in particular to a multi-user-based ring pairing and left and right hand judgment method and system and a medium, and the method comprises the steps: firstly collecting azimuth angles, distances and historical tracks of a plurality of rings, and clustering the azimuth angles, the distances and the historical tracks into different user clusters; shoulder breadth geometric constraint, posture consistency, micro-motion synchronism and historical prior are fused in the cluster, paired scores are calculated, and paired rings are identified by using a greedy strategy; and then, calculating a judgment score to distinguish the left hand and the right hand by counting the rotation deviation of the angular velocity of the gyroscope on the horizontal plane projection and combining the spatial position score of the ring relative to the human body center line with the historical consistency. A steady-state mode and an event-driven wake-up mechanism are also introduced to balance power consumption. According to the invention, through multi-modal fusion, automatic ring pairing and accurate left and right hand judgment are realized.

The invention discloses a vehicle following model and acceleration optimization method considering a front vehicle lateral offset effect in an Internet of Vehicles environment, and belongs to the field of intelligent traffic, and the method comprises the steps: introducing a rearview effect, the front vehicle lateral offset effect and multi-front vehicle speed information on the basis of a full-speed-difference following model, establishing a car-following model considering the lateral deviation effect of the front car in an Internet of Vehicles environment; performing linear stability analysis and nonlinear analysis on the car-following model to obtain a neutral stability condition and a coexistence condition; the simulation verification can describe the car following behavior considering the lateral deviation in the car networking environment, and reveal the operation mechanism of the networked vehicle in the traffic system. Besides, whether a driving safety gain factor and a motion synchronization gain factor are introduced to update the car-following model or not is judged based on driving safety identification and motion state synchronization identification conditions of the car-following vehicle, the acceleration of the car-following vehicle at the next moment is optimized, and the car-following vehicle can run in a safer and more efficient car-following mode on the road.

The invention discloses an autonomous planning algorithm for an automobile gluing path, and relates to the technical field of automobile manufacturing, and the algorithm comprises the specific steps: collecting multi-source data through a line laser radar and an industrial camera, carrying out the preprocessing and synchronous fusion, carrying out the point cloud processing and curved surface modeling, generating and optimizing a gluing path, and adjusting the deviation in real time. And finally, converting into a mechanical arm instruction, controlling an executing mechanism to move, and synchronously adjusting gluing parameters and the posture of a gun head to finish high-precision gluing operation. Through dynamic formula linkage design, full-process self-adaption of track planning and execution control is achieved, manual intervention is reduced, and the gluing quality and the production efficiency are guaranteed; meanwhile, a high-precision positioning and complex curved surface modeling system is constructed by adopting a multi-sensor fusion and curvature self-adaptive NURBS weight factor formula, so that the positioning reliability and the curved surface model precision are ensured, and the adaptation requirement of a complex gluing scene of an automobile body is met.

The invention provides an error modeling method and system based on a CCD camera alignment assembly system, and relates to the technical field of high-precision electronic manufacturing assembly, and the method comprises the steps: obtaining internal parameters and external parameters of a CCD camera through calibration, building a camera and mechanical coordinate system conversion relation, and constructing a collaborative calibration error tree; controlling the motion platform to move, synchronously acquiring pose and environment temperature data, decomposing vibration and thermal deformation error components through time-frequency analysis, and superposing the vibration and thermal deformation error components into dynamic errors; extracting a positioning error based on the pose data, and constructing a mechanical-optical coupling error spectrum in combination with the distortion parameters; and finally, fusing the collaborative calibration error tree, the dynamic error and the coupling error atlas to generate a global error atlas, and completing alignment assembly system error modeling based on the CCD camera. According to the invention, the precision and applicability of error modeling are improved.

A method for motion synchronization-based head pose estimation, by a head mounted display (HMD) device and an HMD device for performing the same are provided. The method includes receiving, by the HMD device, motion data from a plurality of motion sensors of the HMD device, receiving, by the HMD device, a plurality of image frames from at least one simultaneous localization and mapping SLAM camera of the HMD device, estimating, by the HMD device, a plurality of motion parameters of head movements of a user from the plurality of image frames received from memory, generating, by the HMD device, a filtered subset of the motion data received from the plurality of motion sensors based on the plurality of motion parameters of the head movements, synchronizing, by the HMD device, the plurality of image frames received from the memory and filtered subset of motion data, and estimating, by the HMD device, the head pose based on the synchronized plurality of image frames and motion data.

The embodiment of the invention relates to the field of computer technology application, and discloses a 3D digital human voice and mouth shape action synchronization method and device, equipment and a medium, and the method comprises the steps: obtaining voice data, mouth shape data and limb data, so as to obtain a voice data queue, a mouth shape data queue and a limb data queue; according to the frame information in the mouth shape data queue and the frame information in the limb data queue, adjusting the volume of voice data sent by the voice data queue at a time; playing each frame of data in the mouth shape data queue and each frame of data in the limb data queue frame by frame; when the total amount of the voice data sent by the voice data queue is greater than or equal to a preset voice data volume threshold value, playing voice corresponding to the voice data sent by the voice data queue; according to the 3D digital human voice and mouth shape motion synchronization method disclosed by the invention, the technical problem of low authenticity caused by asynchronous motion and voice of the digital human is solved, so that the motion and voice of the digital human are synchronized, and the authenticity of the digital human is improved.

This disclosure pertains to a sports training system that utilizes deep learning and computer vision technologies to analyze biomechanical sport motions. The system is equipped with AI-powered functionalities to enhance training, including those related to creating and managing motion templates that integrate video sequences with extracted motion features. These templates serve as benchmarks, accessible to trainees for improving their technique and performance. The system also can employ an advanced motion synchronization process, which combines dynamic time warping and computer vision technologies to align trainee videos with reference motions captured in motion templates. Additionally, a motion feature database can be updated with features extracted from both trainee and trainer videos, storing visual information in a structured format to facilitate various analytic functions. The system supports analysis of a wide range of sports motions.

The invention relates to the technical field of laser beam shaping, discloses an active test method and system for a circuit breaker, and is used for solving the problem that the self-adaptive shaping capability of a CO2 laser beam is difficult to improve by the existing method. Firstly, a stable light path is constructed, and the stability of the light path is ensured through mechanical limiting, a thermal management module and multi-stage optical alignment; then low-power calibration is carried out, a deformable mirror initial driving table is generated through a least square inversion algorithm, and a flat-topped beam reference is established; data are collected through a wavefront sensor, a high-order mode is reconstructed, the voltage of a deformable mirror is dynamically refreshed, and wavefront control and scanning motion synchronization is ensured in combination with scanning galvanometer time sequence synchronization, closed-loop control and exception handling; monitoring the temperature of the deformable mirror, starting water-cooling adjustment, and correcting the driving table to cope with the heat effect; finally, a safety system is constructed, laser power, wavefront distortion and deformable mirror stroke parameters are monitored, dry gas purging is conducted on the diffractive optical element regularly, and safety guarantee and performance verification of the whole process are achieved.

The invention relates to the technical field of numerical control machine tool control, in particular to a numerical control machine tool axial positioning control method and system. The method comprises the following steps: driving a servo motor to execute reverse clearance compensation motion; the synchronous sampling period obtains a position signal and a load current signal; performing composite judgment based on the position signal and the load current signal: judging whether the variable quantity of the position signal along the instruction direction reaches a preset position threshold value or not, and judging whether the increment of the load current signal relative to the reference current value reaches a preset current threshold value or not; when all items are compositely judged to be met at the same time, it is judged that the mechanical clearance is eliminated, reverse clearance compensation motion is terminated, and a double-closed-loop axial positioning control mode is switched; and when any one item is not satisfied through composite judgment, keeping the reverse clearance compensation motion. The problems that when the numerical control lathe rotates reversely in the axial movement direction for clearance compensation, compensation is not accurate, a workbench continuously wriggles near the target position, and the machining precision is affected are solved.

The invention provides a vehicle-mounted virtual reality synchronization system, which can solve the problem of motion sickness caused by mismatching of vehicle dynamic motion and visual perception in a vehicle-mounted environment of traditional VR. The system collects the acceleration, angular velocity and GPS position information of a vehicle through the sensor module, and the data analysis module maps the information to a virtual camera coordinate system in real time. The virtual camera motion control module ensures that the motion of the virtual camera is synchronized with the actual motion of the vehicle. And the dynamic scene response module adjusts the virtual scene according to the vehicle state to enhance the immersion. Finally, the virtual reality equipment provides a dynamic VR picture synchronous with the vehicle motion, the motion sickness symptom is reduced, and the user experience is improved. Furthermore, the system has the design of light weight and low power consumption, is suitable for various vehicles, and has a wide application prospect.

The invention discloses a multi-axis synchronous start-stop control method for a multi-axis high-speed chip mounter, which ensures the motion synchronization of a master axis and a slave axis in each stage according to the fact that the motion control of the master axis on the slave axis is more detailed, and ensures the motion synchronization of the master axis and the slave axis in each stage through the synchronous start-stop control on an X axis and a Y axis. According to the control method, vibration and positioning deviation caused by asynchronous movement between the shafts are reduced, the deceleration and the ending speed of the shafts are introduced, the applicability and the coupling of the control method are improved, and the control method has higher mounting precision under the higher mounting speed.

The invention relates to the technical field of synchronous motor control, in particular to a multi-motor interpolation motion synchronous control method, system and device and a medium. According to the method, firstly, a motion instruction is input to a trajectory planning module, and a reference position is calculated and issued to a driving control module; driving the motor according to the reference position to obtain the actual position of the motor; then the actual position of the motor is fed back to a driving control module, and a distance difference value is calculated according to the type of the to-be-machined tool path; and finally, the distance difference value serves as the input of a machining shaft synchronous controller, the compensation value of the machining shaft of the tool path to be machined is calculated, and multi-motor interpolation motion is synchronously controlled according to the compensation value of the machining shaft. Synchronous control of linear interpolation motion and circular interpolation motion at any angle is realized.

The invention discloses a synchronous monitoring method for a joint shaft and a rotary table of a seven-shaft engraving robot, which relates to the technical field of industrial robots, and comprises the following steps: when a numerical control system is started, running a system macro file to carry out dynamic detection to ensure that the rotary table and the joint shaft move coordinately and consistently before a task; in the dynamic detection process, when the tool approaches the rotary table, the relative position of the tool and the rotary table is detected in real time through a sensor, data are transmitted to a control system, the speed of the tool is dynamically adjusted according to feedback data, and it is ensured that the tool approaches a rotary table groove at the stable speed. Judging whether the cutter is accurately placed in the groove or not; if the cutter is accurately placed and does not collide, judging that the rotary table is synchronous with the joint shaft; otherwise, judging asynchronization, triggering a system alarm, recording an error log and prompting an operator to maintain. Through dynamic detection and real-time adjustment of the cutter speed, synchronous movement of the joint shaft and the rotary table is ensured, the machining precision and the operation stability are improved, meanwhile, equipment loss is reduced, and the operation safety is improved.

The invention relates to a high-precision tail end path control method for improving the multi-axis synchronization performance of a robot, and the method comprises the steps: building an incidence matrix of a Cartesian space path error and a joint space tracking error of each axis, and constructing a collaborative coupling error which is linearly combined by the joint space tracking error and a multi-axis synchronization error, according to the joint space tracking errors of all the shafts, balance scaling matrixes of all the shaft systems under different characteristics are established and used for adjusting control commands of all the shafts, the cooperative coupling errors are corrected, and the cooperative coupling errors containing the characteristics of all the shafts are obtained; three-ring cascade control is designed to track target torque, speed and position set by the robot; and a synchronous controller of an RBF neural network dynamic model is designed, so that a robot multi-axis cooperative system is established, and high-precision tail end path control of multi-axis synchronization performance is realized. According to the method, the robot path error problem is converted into the motion synchronization problem, multi-axis coordination control is achieved, and therefore the contour precision is 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.

An electronic device has a foldable display. First and second portions of an electronic device housing for the device may be joined using hinge structures. A flexible display may overlap the first housing portion, the hinge structures, and the second housing portion. A layer such as a layer of sheet metal may be used in supporting the display and may overlap the hinge structures. The hinge structures may include gear teeth, belts, and / or other movement synchronization structures. The hinge structures may include members that move relative to each other during bending. The moving members may include bars and links with opposing curved bearing surfaces. Stop surfaces may prevent excessive rotation of the bars and links with respect to each other. The links may rotate about pivot points that lie within the thickness of the display without the hinge structure living within the thickness of the display.

The invention belongs to the field of manipulators, and provides a high-rigidity two-rotation and one-movement remote motion center mechanism, a control method and a robot. The mechanism includes an output portion movable based on a remote center of motion point; the synchronizing part comprises a supporting rod arranged in the feeding direction and a lantern ring capable of synchronously moving with the output part, and the supporting rod is connected with the lantern ring in a telescopic mode; the first connecting piece is arranged in the first direction and is rotationally connected with the output part and the lantern ring; the first branch chain part and the first connecting piece synchronously move so as to selectively drive the first connecting piece to move in the first direction; the second branch chain part is in universal connection with the supporting rod so as to selectively drive the supporting rod to move in the first direction and the second direction; the third branch chain part is in universal connection with the supporting rod so as to selectively drive the supporting rod to move in the first direction and the second direction; wherein the first branch chain part, the output part and the supporting rod are coaxially arranged in a first direction; the second branch chain part and the third branch chain part are arranged on the two sides of the first branch chain part in the second direction.

The invention discloses a method for automatically replacing a drill rod of a miner-bolter, which relates to the technical field of drill rod replacement of miner-bolter, and comprises the following steps of: starting an automatic drill rod replacement mode through a control system of the miner-bolter, detecting the current state of equipment, ensuring that all parts are at initial positions, and generating an initial state signal for subsequent calling. Through comprehensive application of real-time monitoring, step-by-step control, anomaly prediction, action synchronous optimization and modular design, the safety, reliability and intelligent level of the automatic drill rod replacing system of the bolter-miner are remarkably improved. The sensor network acquires data in real time, and dynamically adjusts operation to avoid equipment damage in combination with closed-loop feedback and an abnormal prediction mechanism; seamless connection of all modules is ensured through action synchronous optimization, and efficient and independent operation and tight cooperation are achieved through modular design. According to the technologies, the maintenance cost is reduced, the shutdown loss is reduced, the working efficiency is improved, the efficient requirement of modern construction is met, and comprehensive guarantee is provided for stable operation of equipment.

The invention relates to the field of cutting precision control, in particular to a cutting precision control and movement coordination system of a rotating disc type laser plate splitting machine, which comprises a parameter database module used for storing historical data of the whole life cycle of the rotating disc type laser plate splitting machine; the precision prediction model module ensures that the model can accurately predict the cutting track deviation and the machining precision change; the motion cooperative control module is used for dynamically planning the optimal motion track of the laser cutting head and calibrating the motion synchronism of the cutting head and the turntable in real time; the intelligent monitoring and diagnosis module is used for identifying laser power abnormity and synchronization deviation problems and sending out early warning; according to the method, while precise prediction of the cutting precision and intelligent optimization of motion cooperative dynamic control are achieved, the equipment running state and the machining effect are presented through a graphical interface, the cutting precision control of the laser plate splitting machine is promoted to develop towards the intelligent and flexible direction, and the machining precision stability and the production efficiency are remarkably improved.

The invention discloses a casting grinding, clamping and supporting device, relates to the technical field of casting machining, and aims to solve the problems of poor adaptive capacity, low cooperative control precision, lack of real-time monitoring and weak adaptability in the prior art. The device comprises a casting information sensing module, a clamping parameter decision-making module, a supporting posture regulation and control module, a grinding collaborative adaptation module, a real-time monitoring feedback module and a central control module, clamping and supporting parameters are decided through sensing casting information and an intelligent algorithm, synchronous adaptation with grinding movement is achieved, the parameters are dynamically corrected in combination with real-time monitoring feedback, full-process closed-loop control is formed, and the grinding efficiency is improved. The casting polishing device can adapt to polishing of various castings without replacing mechanical assemblies, the polishing precision, stability and machining efficiency are effectively improved, and the casting polishing device is suitable for various casting polishing scenes.

The invention relates to the field of intelligent manufacturing, in particular to a casting box opening efficiency intelligent optimization system and method integrated with an IoT sensor network, and the system comprises a data monitoring module, an abnormality feedback module, a data analysis module and an intelligent adjustment module, monitors and collects required data, determines a box opening hedging coefficient and a box opening instantaneous coefficient, and improves the efficiency of casting box opening. The method comprises the following steps: calculating a peeling vibration characterization value, judging whether a box opening state has an abnormal vibration tendency, and for the box opening state with the abnormal vibration tendency, calculating a box opening adjustment characteristic value in combination with a motion synchronization characterization value obtained through analysis and an impurity influence characterization value so as to judge whether the box opening state needs to be adjusted. And aiming at the box opening state needing to be adjusted, calculating an adjustment effective value, and determining a signal sending type. According to the method, internal factors and external factors causing vibration in the box opening process are analyzed, abnormal vibration tendency judgment and box opening state adjustment judgment are conducted on the box opening state, specific vibration in the box opening process is reduced, and the box opening efficiency is improved.

According to the transmission assembly and the computer numerical control machining equipment, the transmission assembly comprises a driving wheel, a driven wheel, a synchronous conveying piece and a tensioning maintaining piece, the driven wheel can move relative to the driving wheel in the first direction, and the peripheries of the driving wheel and the driven wheel are sleeved with the inner sides of the two opposite ends of the synchronous conveying piece correspondingly; the tensioning retaining part is connected with the driven wheel and used for providing traction force or pushing force towards the side, away from the driving wheel, of the driven wheel so as to tension the synchronous conveying part. According to the synchronous conveying device, traction force or pushing force is provided through the tensioning maintaining part and the driven wheel, when the synchronous conveying part is loosened, the distance between the driven wheel and the driving wheel can be automatically adjusted so as to tension the synchronous conveying part, and the synchronous conveying part can be always kept in a tensioning state without additionally arranging a tensioning wheel and bending the synchronous conveying part; and function failure caused by slipping, tooth skipping and tooth disengagement of the transmission belt is avoided.

The invention discloses an on-line real-time monitoring and testing system and method for color difference of a colored film. The method comprises the following steps: acquiring a film image by adopting an optical detection module; the reflection calibration module compensates transmissivity fluctuation of the thin film through a reflection plate located below the thin film, and provides a calibration reference by means of a standard material and a calibration plate with the same height; the motion synchronization module realizes synchronization of high-precision camera acquisition and film motion so as to eliminate motion blur, and adjusts the light source intensity of the optical detection module based on the real-time light transmittance feedback of the film; and the data processing module dynamically updates a conversion matrix from RGB to LAB by using the data of the calibration plate so as to compensate system temperature excursion, obtain an E threshold value and generate a color difference distribution thermodynamic diagram. According to the invention, the problem of inaccurate chromatic aberration measurement caused by factors such as film light transmittance fluctuation, system temperature excursion and motion blur in the prior art is solved, real-time and accurate monitoring and rapid analysis of the film chromatic aberration in the production process are realized, and the method is suitable for film color quality control in a high-speed continuous production scene.

The invention provides a virtual device VR experience motion synchronization platform and method, and relates to the technical field of virtual reality development. The synchronization platform comprises a virtual reality device A used for playing video content and providing a visual surrounding sense; the tablet device B is used as a central control system, synchronously plays the same video content with the virtual reality device A, and sends an action instruction to the motion platform C; and the motion platform C is used for receiving the action instruction sent by the tablet equipment B and executing actions matched with video contents according to the action instruction, and the actions comprise at least one of transverse movement, longitudinal movement, up-down lifting, pitching, side tipping, rolling and vibration. According to the technical scheme, synchronous control over multiple virtual devices and multiple screens can be achieved, and the requirement for sharing of multiple persons or the requirement for complex scenes are met.

The application discloses a numerical control machine tool control method and system for complex curved surface machining, and relates to the field of numerical control machine tool control. The method comprises the following steps: extracting an original G code instruction stream, reconstructing ideal position instruction sequences and ideal speed instruction sequences of each motion shaft according to a machine tool kinematic chain model; estimating instruction phase lag amounts of each motion shaft through an inter-shaft phase lag predictor; combining geometric curvatures and tangent directions of a machining path, calculating estimated profile error vectors through a profile error coupling mapping model; combining profile accuracy requirement constraints of a surface to be machined and a shaft contribution weight matrix, and constructing a compensation optimization model; and fusing inter-shaft phase compensation instructions and the original G code instruction stream in a numerical control machining program according to a solution of the compensation optimization model, generating a synchronized instruction stream, and driving each shaft of the machine tool to move. The method solves the problems of poor synchronization of multi-shaft cooperative movement, low estimation accuracy, and low adaptability of instructions to mechanical structure characteristics of the machine tool.

The application relates to a control system and method of an excimer laser integrating control, detection and alarm, wherein an industrial computer is connected with an ACS master station and connected with an RS232 communication interface of an excimer laser; the ACS master station is in communication connection with an ACS-UDMxa driving module; the ACS-UDMxa driving module is connected with an EtherCAT circuit of a 6-axis PEG laser control module, and connected with an X-axis linear motor of an X-axis motion unit through an X-axis driving interface; the X-axis motion unit is provided with an X-axis grating ruler reading head, and differential A / B / Z grating ruler signals output by the X-axis grating ruler reading head are connected with an X-axis grating ruler input interface; the excimer laser is connected with a laser synchronization signal input interface and a Trig control signal interface of the 6-axis PEG laser control module through a laser synchronization signal interface and a laser Trig signal interface respectively. Submicron laser-motion synchronization is realized, and control, detection and alarm are integrated.

The present application belongs to the field of actuator design and is a parallel multi-purpose actuator, comprising a first actuator, a second actuator, a first valve group, a second valve group, and an electro-hydraulic servo valve; the first actuator comprises a first actuator and a second actuator, the second actuator comprises a third actuator and a fourth actuator, the first actuator and the third actuator form a synchronous actuator, and the second actuator and the fourth actuator form a synchronous actuator; the movement synchronization of multiple actuators is achieved through synchronous actuators and synchronous pipelines: compared with the scheme of parallel control of each actuator, it avoids the asynchronous movement of each actuator due to friction and other reasons, and can provide a warning signal when the stuck load is too large and may cause a larger fault. Compared with the scheme of independent control of each actuator, it has the advantages of simple pipelines and low cost. The scheme for achieving motion synchronization is a physical method with extremely high reliability.

This invention belongs to the field of inertial measurement technology, specifically an inertial measurement unit and its linear-angular coupling motion calibration method. It includes constructing a non-contact inertial measurement unit linear-angular motion synchronous measurement system. Through a reference cubic prism, a three-dimensional laser vibrometer, a first dual-axis autocollimator, a second dual-axis autocollimator, and a data acquisition module, an attitude transformation matrix is ​​established from the cubic mirror coordinate system to the inertial measurement unit coordinate system. By synchronously triggering the inertial measurement unit, based on the outputs of a three-axis gyroscope and a three-axis accelerometer, the three-axis acceleration measured by the three-dimensional laser vibrometer in the inertial measurement unit coordinate system, and the three-axis angular velocity of the inertial measurement unit measured by the dual-axis autocollimator, the linear-angular coupling motion of the inertial measurement unit is calibrated. This invention avoids the influence of vibration on the accuracy of the measurement system and solves the problem of difficulty in dynamically tracking and monitoring the actual motion of the inertial measurement unit during vibration.