767 results about "Movement control" patented technology

The invention relates to the technical field of robot control and somatosensory interaction, and particularly discloses a knee joint exoskeleton robot control system based on somatosensory interaction. The system comprises a somatosensory signal acquisition and fusion module, a personalized dynamic model construction module, an adaptive intention decision module, a variable impedance compliance control module and a rehabilitation process evaluation and parameter self-tuning module. Through cooperative work of the modules, precise recognition of the motion intention of a wearer, online construction of an individualized biomechanical model and flexible and adaptive motion control are achieved, control parameters can be automatically adjusted according to the rehabilitation process, and therefore the flexibility and individuation level of man-machine interaction and the effectiveness of rehabilitation training are improved.

The invention discloses an examination bed displacement precision measurement and control method and an examination bed, and relates to the field of medical equipment.The examination bed displacement precision measurement and control method comprises the steps that whether the examination bed slips or not is recognized based on the comparison result of a first difference value and a first threshold value of displacement measurement parameters of a servo motor encoder and a transmission device encoder in the current movement; when the slippage phenomenon exists, compensation movement control is conducted on the examining table at least based on the slippage distance estimated value and the first difference value, and under the conditions that slippage does not exist and the second difference value of displacement measurement parameters collected by a transmission device encoder and a displacement sensor is not smaller than a second threshold value, the displacement measurement parameters are calculated based on the slippage distance estimated value and all the displacement measurement parameters. And carrying out abnormity identification on the transmission device encoder and the displacement sensor, and outputting an abnormity identification result. On the basis of cross comparison of the displacement measurement parameters collected by the displacement measurement devices, slip detection and anomaly detection of the displacement measurement devices are achieved on the basis of the comparison result, and accurate detection of the displacement precision of the examination bed is achieved.

The invention discloses a hanging basket motion control method and system based on operation state recognition, particularly relates to the technical field of bridge construction automation, and is used for solving the problem of poor synchronous control of hanging basket movement. According to the method, working conditions are accurately recognized through multi-source sensing data fusion and a finite-state machine, servo system parameter self-adaptive setting is achieved based on working condition parameter mapping, and an anti-interference movement track is generated by adopting a model prediction control algorithm fusing pose feedback and wind load feedforward; walking synchronization and platform stability are achieved through cross coupling control and posture closed-loop fine adjustment, emergency response is provided through the independent safety guarding thread, control and protection double closed loops are formed, and therefore the motion precision, the anti-interference capacity and the intrinsic safety level of the hanging basket under the variable-load and strong-disturbance working conditions are effectively improved, and the safety of the hanging basket is improved. And the energy consumption and the mechanical vibration frequency in the moving process of the hanging basket are reduced.

According to the vehicle transverse movement control method, the electronic device, the storage medium, the program product and the vehicle, according to the transverse movement requirement, the front wheel close to one side of the target transverse movement direction and the opposite angle wheel of the front wheel are controlled to deflect towards the target transverse movement direction and output the forward driving force; and a rear wheel close to one side of the transverse moving direction and opposite-angle wheels of the rear wheel are controlled to reversely deflect towards the target transverse moving direction and output reverse driving force, so that longitudinal advancing force of the vehicle is at least partially counteracted, transverse moving resultant force is formed, and track deviation caused by longitudinal force residues is improved or eliminated. Meanwhile, deflection of the wheels forms a front-outer-eight and rear-inner-eight form, torsional pendulum interference of the whole vehicle can be reduced, the stability of vehicle transverse movement is improved, and the control difficulty of vehicle transverse movement is reduced.

The invention relates to a humanoid robot whole body motion control method and system based on guide learning and remapping data. According to the method, guide learning is adopted as a motion control algorithm framework of the humanoid robot; the method comprises the following steps: firstly, acquiring human body weight mapping data, and performing coordinate transformation on the human body weight mapping data to serve as a feedforward action in guide learning; constructing a neural network, inputting an observation vector of the robot into the neural network, carrying out reinforcement learning on the neural network, outputting rotation angle data, needing to be finely adjusted, of each joint of the robot, carrying out exponential smoothing processing on the rotation angle data, and outputting a smoothed signal as a feedback signal; and the feedforward action and the feedback signal are combined through PD control to generate a final rotation angle required by each joint of the robot, and then the rotation angle is converted into an output torque of a motor and output, so that whole-body motion control of the humanoid robot is completed. Compared with the prior art, the method has the advantages that the action accuracy and the real-time fine adjustment requirement are both considered, and the control robustness is high.

The present invention relates to a method for synchronizing movement control and location recognition for a micro-robot by using a bed-integrated electromagnetic field apparatus, and more specifically to a method for synchronizing movement control and location recognition for a micro-robot by using an electromagnetic field apparatus which enables precise movement control for a micro-robot and simultaneously enables location recognition for the micro-robot, and enables miniaturization of the apparatus, thereby having excellent compatibility with other medical equipment.

The utility model relates to the technical field of roller presses, and discloses a roller press roller gap control device which comprises a first roller and a second roller which are oppositely arranged, and a roller gap is formed between the first roller and the second roller. The execution module is in driving connection with the first roller, and the first control module is connected with the execution module to control the execution module to drive the first roller to move to a first set position so as to preliminarily adjust a roller gap; and the second control module is connected with the execution module to control the execution module to drive the first roller to move to a second set position so as to adjust the roller gap for the second time. According to the utility model, the first control module and the second control module are adopted to realize secondary movement control on the first roller respectively, so that direct measurement on the roller gap is realized without being influenced by a bearing gap, deformation and the oil temperature of an oil cylinder, the thickness of a pole piece and the set position deviation of the roller gap are effectively reduced, and the measurement precision is improved. And the pole piece thickness and the roll gap position linearity are improved.

The utility model discloses a high-precision prepressing alignment platform driven by a linear motor, and belongs to the technical field of display screen machining equipment. The platform is mainly composed of a Y-axis linear driving mechanism, an X-axis linear driving mechanism and a theta-axis angle driving mechanism. The Y-axis linear driving mechanism comprises a Y-axis power source and a Y-axis mover part, and is equipped with a Y-axis position sensing group and a Y-axis grating sensing group; the X-axis linear driving mechanism is arranged on the Y-axis mover part and is provided with an X-axis power source, an X-axis mover part and an X-axis grating sensing group; the theta-axis angle driving mechanism is fixed to the X-axis rotor part, a power source of the theta-axis angle driving mechanism is a DDR motor, and the theta-axis angle driving mechanism is connected with a negative pressure adsorption plate with a negative pressure channel. According to the utility model, the X axis, the Y axis and the theta axis work cooperatively to correct the angle of a product and the position in the X-Y direction. The multi-axis driving mechanism is matched with the sensing set, high-precision positioning and moving control are achieved, the structure is stable, workpiece adsorption is convenient and fast, and the problem of the requirement for prepressing precision of large and medium-sized OLED display screens is effectively solved.

The invention provides a motion control method and device of a foot type robot, equipment and a medium. The method comprises the steps that state information, coding information and historical actions of the foot type robot at the previous moment and first sensing information at the current moment are obtained; inputting the state information of the previous moment, the coding information and the historical actions into a world model to obtain the state information of the current moment output by the world model; inputting the state information at the current moment and the first sensing information into a motion strategy model to obtain a target action at the current moment output by the motion strategy model; and controlling the movement of the foot type robot according to the target action at the current moment. Any terrain environment can be accurately sensed, so that the stability of the foot type robot in the movement process is ensured, the problems of falling or movement faults and the like are avoided, and the movement control effect of the foot type robot is improved.

The utility model discloses a flexible plate winding device, and relates to the field of flexible plate winding, the flexible plate winding device comprises a control case and a winding shaft, the winding shaft is provided with a winding disc, the control case is also provided with a rack, the rack is rotatably provided with a screw rod, the screw rod is in threaded connection with a moving table, the moving table is provided with two side plates, and the two side plates are arranged on the rack. A two-way screw rod is rotationally installed on the inner side of the side plate, two moving pieces capable of moving relatively are connected to the two-way screw rod in a threaded mode, vertical rods are installed on the moving pieces, and conveying rollers are rotationally installed on the vertical rods. According to the rolling device, the screw rotates to drive the moving table to move horizontally, the moving table can move to the position corresponding to the rolling disc, a plate is kept to be located in the middle of the rolling disc during rolling, the two-way screw is rotated to enable the two moving pieces to synchronously move towards the inner side or the outer side, the distance between the two vertical rods and the conveying roller is controlled, and therefore the rolling speed is increased. And the flexible plate is located between the two conveying rollers, the flexible plate can be limited, and the overall practicability is improved.

A system and method for a hybridized control architecture for a liquid handler system. The hybridized control system can control the movement of the vessel movers of the liquid handler system using a hybridized movement control approach that incorporates both position, velocity and current-based control outputs. The control system can further dynamically control the relative degree to which velocity or position-based control is applied to the vessel movers based on the vessel movers' relative positions along the track system.

A workpiece movement control system that confines a workpiece body with a support plate with a movement locking mechanism. The movement locking mechanism includes a locking shaft that extends through at least one footing linkage. The at least one footing linkage includes a bracing fastener rotatably coupled along the locking shaft proximate to at least one of the right-hand threaded portion or the left-hand threaded portion and a bracing footing coupled with at least one of the workpiece body or the support plate. The bracing footing including a bracing fastener receiving opening.

The utility model discloses a profiling parallel arm device, which belongs to the technical field of plate processing chamfering and comprises a device body, and an adjustable tracking mechanism is mounted on the device body. The adjustable tracking mechanism comprises two groups of parallel arm assemblies and a movement control assembly; the moving control assembly is installed at the upper end of the equipment body, and the two parallel arm assemblies are symmetrically installed on the moving control assembly. A profiling linkage mechanism is mounted on the two groups of parallel arm assemblies; and an edge sealing conveyor is arranged in front of the equipment body. By means of the mode, profiling chamfering of the plates can be achieved, the extra workload for manually and continuously replacing the positions of the plates is reduced, the height of the profiling linkage mechanism can be flexibly changed, the profiling linkage mechanism can adapt to the plates of different heights, the adaptability of the device is improved, and the machining efficiency is improved. And the equipment can be attached to the edge of the plate in a profiling mode according to the height and length of the plate.

The present disclosure relates to: a robot movement control method which enables a movement path to a target location to be quickly planned and / or movement to the target location to be quickly made; and a robot implementing same, and may provide a robot movement control method comprising the steps of: receiving information regarding a target location from a control server; searching for a partial trajectory corresponding to a narrow section required for a robot to move from the current location to the target location; planning, in a random tree method, a partial global path for a non-narrow section required for the robot to move from the current location to the target location; and generating a full global path for moving from the current location to the target location by using the partial trajectory and the partial global path.

The utility model discloses a rubberizing device for processing an insulating sheet, and relates to the technical field of insulating sheet processing equipment, in particular to the rubberizing device for processing the insulating sheet, which comprises a support cabinet, a support table, a working plate, a rubber feeding component, a rubberizing component and a blanking component, according to the utility model, the transverse moving assembly and the longitudinal moving assembly are arranged, so that the position of the insulating sheet on the working plate can be accurately controlled. A lead screw in the transverse moving assembly is matched with a third servo motor, so that the insulation sheet can be accurately positioned in the horizontal direction; and a second servo electric cylinder and a suction cup in the longitudinal moving assembly can realize stable movement of the insulating strip in the vertical direction. By means of the accurate positioning and moving control mode, the problems that in the prior art, the adhesive tape deviates, and adhesive tape pasting is not firm are effectively solved, and the adhesive tape pasting accuracy and stability are remarkably improved.

The invention discloses a quadruped robot advancing path selection method and system based on Kalman filtering, and belongs to the technical field of robot movement control. The method is used for solving the technical problems that sudden change of foot end contact force of a quadruped robot or terrain slope change can cause model mismatch, and then filtering divergence or estimation deviation is caused. A kinematic model is corrected in real time through a slope angle, so that system state prediction is more fit with an actual terrain, noise covariance is dynamically enhanced when contact stiffness is suddenly changed, and the situation that small-probability large sudden change is excessively suppressed by filtering is avoided; the method can dynamically adapt to changes of terrain gradient and contact rigidity, according to the output filtering optimal state estimation and in combination with a preset foot end landing point stability evaluation function, an advancing landing point meeting force-pose constraint is generated, the robot is driven to execute, and the quadruped robot can autonomously select a stable landing point in an unknown complex terrain.

An example game program of the present exemplary embodiment causes the computer to: perform movement control of at least one operation target object set as a target of a first action by the player character, out of a plurality of objects in the virtual space, based on the first action based on an operation input; perform movement control of an operation target building object, based on the first action in a first situation; at a time of shifting from the first situation to a second situation, set the operation target building object arranged to a non-operation target building object.

The invention provides a test auxiliary system and method, electronic equipment and a computer readable storage medium. The test auxiliary system comprises a linear movement module, an image acquisition module, a processing module and a test fixture, the image acquisition module is arranged on the linear moving module, the control end of the linear moving module is connected with the output end of the processing module, and the output end of the image acquisition module is connected with the input end of the processing module. The linear movement module is arranged to drive the image acquisition module to move, so that the movement control of the image acquisition module can be realized, and the position of the target test fixture where the target test object is located is determined, so that the image acquisition module can be moved to the positions of the fixtures in sequence; the barcode information of a plurality of target test objects can be quickly scanned, and the scanning efficiency of the barcode information is improved. And meanwhile, the problem of bar code input errors caused by manual work is avoided.

An inkjet printing apparatus includes: a positional displacement amount calculation unit configured to, during printing processing, calculate a positional displacement amount of printing paper in a paper width direction based on colorimetric data obtained by colorimetry of a color chart by a colorimeter; a colorimeter movement mechanism configured to move the colorimeter; and a colorimeter movement control unit configured to control an operation of the colorimeter movement mechanism based on the positional displacement amount calculated by the positional displacement amount calculation unit.

To provide a technique capable of predicting a time when an image forming system fails.SOLUTION: In the image forming system, the controller is configured to input, to the motor driver, an operation amount for moving the carriage in the main scanning direction at a target speed based on the moving speed of the carriage detected from the encoder signal. The motor driver is configured to drive the motor by applying driving power based on the operation amount to the motor. The rotational movement of the motor is converted into a translational movement of the carriage. On the other hand, in order to determine the lifetime or the remaining lifetime of the image forming system, for each of a plurality of periods, time-series data of the moving speed, the physical quantity related to the moving speed, or the operation amount observed by the movement control of the carriage in the corresponding period is acquired. An index value related to an abnormality of the image forming system is identified based on the time-series data. The life or the remaining life of the image forming system is determined based on the transition of the index value in the plurality of periods.SELECTED DRAWING: Figure 5

An ECU (100) is a control device, for a vehicle (10), that realizes respective functions by executing respective programs stored in a program storage region (141). A program acquisition unit (110) acquires a target program that is an update program or a program to be newly added. When there is no storable region, which is a continuous unused region capable of storing the target program, in the program storage region (141), a movement control unit (120) ensures a storable region by moving the program stored in the program storage region (141) to an unused region in the program storage region (141). A program storage unit (130) stores the target program in the storable region.

The application provides a pipeline intelligent hoisting device and method based on accurate orientation regulation, and relates to the technical field of municipal pipeline construction. The device comprises a hoisting frame, the bottom corners of the hoisting frame are provided with support column structures, four groups of hydraulic support rods are fixedly arranged on the bottom sides of the hoisting frame, the telescopic ends of the hydraulic support rods are rotatably provided with H-shaped wheels, two groups of L-shaped beam frames are fixedly arranged on the top of the hoisting frame, and the middle part of the L-shaped beam frame is slidably provided with a sliding seat in cooperation with a guide rail. The application is provided with a sliding seat, which provides stable movement control function, can move the pipeline to the delivery position according to the need, and can adjust according to the installation condition of the pipeline. According to the angle requirement, the extension range of different hoisting cables can be controlled to adjust the horizontal angle of the gripper, thereby realizing the adjustment of the laying angle of the pipeline, and solving the problem of inconvenient stable control of the existing hoisting device.

The application provides a lifting handrail and seat, which comprises a handrail seat connected with a seat body, a lifting part provided on the handrail seat and capable of being in a lifting state and a staying state, a clutching device provided between the handrail seat and the lifting part, a pull line control part movably provided on the lifting part, an active pull line connected with the pull line control part at one end of the clutching device and a driven pull line connected with the other end of the clutching device; when the lifting part is in the lifting state, the clutching device is separated, and the active pull line is disconnected with the driven pull line; when the lifting part is in the staying state, the clutching device is combined, the active pull line is connected with the driven pull line, the pull line control part can drive the clutching device to lift through the active pull line, and then drives the driven pull line to move; the seat further comprises a bottom plate, the driven pull line extends from below the handrail seat to the bottom plate and is connected with a movement control mechanism in the bottom plate; the whole pull line is disconnected and connected through the clutching device in the scheme, the active pull line moves with the handrail in the separation state, and the driven pull line remains stationary, so that the length change of the exposed pull line is avoided.

To provide a bolt arranging device and a bolt installing device capable of simultaneously installing a plurality of bolts in a plurality of sockets with a simple constitution.SOLUTION: The bolt arrangement device 10 arranges a plurality of bolts M side by side in one direction. The bolt arrangement device 10 includes a bolt feeding means 11 for feeding the bolts M one by one, a bolt arrangement part 12 in which a plurality of bolt arrangement holes 12A for individually arranging the bolts M are arranged in one direction, a moving means 13 for moving the bolt arrangement part 12 in one direction, and a movement control means 14 for controlling the movement of the bolt arrangement part 12.SELECTED DRAWING: Figure 1

The utility model relates to the technical field of earthquake rescue, and discloses an earthquake module detection rescue mechanical device, which is characterized in that a searchlight and a sensor are arranged at the front end of a mainframe box, a lifting rear arm is rotationally arranged in the middle of the front end of the mainframe box, and the lifting rear arm is connected with a lifting front arm through a hinge structure; a first electric cylinder connected with the lifting front arm is arranged on a shell at the lower end of the lifting rear arm; the lifting front arm is connected with a mechanical front arm through a hinge structure, a second electric cylinder connected with the mechanical front arm is arranged on a front arm upper bracket at the upper end of the lifting front arm, an on-arm searchlight is installed outside the middle section of the mechanical front arm, and the free end of the mechanical front arm is rotationally connected with a mechanical gripper. A trunk structure internally provided with a movement control system is rotationally installed on the lower portion of the center of the main machine box through a steering head, steering engine connecting positions are arranged at the positions, close to the four corners, of the edge of the trunk structure, first supporting legs are connected into the steering engine connecting positions through hip knee joints, and ankle joints connected with second supporting legs are installed at the tail ends of the first supporting legs.

The invention discloses an electrical wire coating system with a wide glue solution viscosity range and a coating method thereof, and relates to the technical field of microsystems. A glue injection system; a glue injection system and a glue injection control module; and the scribbling motion system comprises a scribbling motion control module, an injection head motion displacement mechanism and a component motion displacement mechanism. According to the invention, the working modes are flexibly switched through the positive and inverted switching mechanism, the device adapts to the range from low viscosity to high viscosity, the positive mode assists conveying and coating of high-viscosity glue liquid by using pressure, and the inverted mode avoids dripping and line broadening of the low-viscosity glue liquid due to gravity; the defect that low-viscosity glue solution is infiltrated and widened due to the influence of gravity in a traditional forward mode is effectively overcome, meanwhile, the forward and reverse dual-system switching scheme can meet the requirements of different application scenes, and the problems that a traditional dual-independent system is long in switching time, single in application environment, repeated in system positioning and the like are solved.

A moving body control device (100) comprises: a positioning information acquisition unit (101) that acquires positioning information pertaining to a moving body (1); a destination information acquisition unit (102) that acquires destination information indicating a destination of the moving body (1); a movement control unit (104) that controls movement of the moving body (1), on which a package is mounted, so as to move the moving body (1) to the destination on the basis of the positioning information acquired by the positioning information acquisition unit (101) and the destination information acquired by the destination information acquisition unit (102); and an air blowing control unit (111) that controls an air blowing device (50) of the moving body (1) so as to cause the air blowing device (50) to blow air in a state in which the moving body (1) has reached the destination.

The utility model discloses a chip rapid detection device, including chip tray disc conveying assembly, be provided with chip tray disc on the chip tray disc conveying assembly, be provided with detection station on the chip tray disc conveying assembly, be provided with jacking control assembly at detection station department on the chip tray disc conveying assembly, one side of chip tray disc conveying assembly is provided with auxiliary installation component, be provided with horizontal movement control component on the auxiliary installation component, the output of horizontal movement control component is provided with moving assembly, be provided with detection component on moving assembly. The utility model has the beneficial effects that, the chip rapid detection device of this technical scheme, clever structure design, the practicality is stronger, and stable operation, use this chip rapid detection device, replaced the manual chip rapid inspection, effectively improved the inspection efficiency of chip, effectively shortened the inspection period of chip.

The invention discloses a motor-driven steel ball locking mechanism based on gear and thread pair linkage, and belongs to the technical field of spacecraft on-orbit docking. The mechanism comprises a motor serving as a power source, wherein an output shaft of the motor is fixedly connected with a cylindrical gear; the cylindrical gear is in meshed connection with a locking mechanism through a gear; a butt joint conical rod is arranged above the locking mechanism, and the locking mechanism is used for capturing and locking the butt joint conical rod. When a guide taper sleeve in the locking mechanism makes contact with the butt joint taper rod, a contact switch is triggered, a motor is started, a thread pair is driven to move through gear transmission, a locking screw is made to move axially, and a steel ball is controlled to lock or unlock the butt joint taper rod. The contact switch is triggered through contact between the guide taper sleeve and the butt joint taper rod, space dust and radiation interference are avoided, autonomous capture is achieved, and the butt joint precision is remarkably improved. The mechanism is highly integrated and modularized and can be adjusted according to requirements of different spacecrafts, the size and weight of the spacecrafts are reduced, and the utilization efficiency of spaceflight resources is improved.