72 results about "Movement planning" patented technology

In accordance with various aspects of the present invention, system and method for modeling and application of interproximal reduction (IPR) of teeth to facilitate orthodontic treatment is provided. In accordance with an exemplary embodiment, a system and method for modeling and application of IPR are configured within a treatment methodology that initially determines whether stripping is needed for two neighboring teeth. If stripping is necessary, the exemplary method for modeling and application of IPR is conducted. In an exemplary embodiment, a stripping plane or other surface is constructed to determine the amount and region of stripping for two neighboring teeth, in other words, the volume to be removed between two neighboring teeth. After stripping of the tooth, the tooth geometry can be reconstructed to enable application of the IPR tooth model, such as enabling the clinician to utilize the IPR tooth model for teeth movement planning.

The invention provides a visual positioning and mechanical arm grabbing realization method based on a ROS. The method includes that a camera is arranged above or laterally above a to-be-grabbed object, acquires images of the to-be-grabbed object and an affiliate mark and inputs the images to an upper computer; a camera driver is arranged on the upper computer, the images of the camera are read, a specific algorithm is utilized for data processing, spatial coordinates of the object relative to the camera and a mechanical arm are acquired, and a movement planning parameter value is given out and sent to a lower computer; the lower computer receives and analyzes movement information sent by the upper computer, and the mechanical arm is driven to execute grabbing according to preset action. By the method, powerful processing operation capability of the upper computer can be utilized effectively, and layout of the mechanical arm and the upper computer and collaborative working of multiple mechanical arms can be realized easily; by adopting the ROS, movement planning of the mechanical arm can be realized easily, so that the method has wide application prospect.

The present application is generally directed to a method and system for coaching individuals such as, e.g., employees of organizations such as large enterprises, to achieve predefined goals through the preferably daily practice or use of preferably a single habit, skill, action, or behavior. For example, the method and system can be used to keep an individual focused and disciplined over time to change behavior such as, e.g, acquiring or reinforcing a new skill or habit. The system is preferably delivered through an automated, web-based application using, e.g., expert systems to simulate a live coach's response to different performance scenarios. The self-coaching method and system can strengthen an individual's focus, discipline, and perseverance over time and thereby dramatically increase the likelihood of success of achieving a reliable new habit or mastering a new skill. Briefly, the self-coaching method and system guides users through the process of articulating self-improvement or other goals and then helps them attain their personalized goals. Users can submit self-monitoring records preferably twice daily through the web-based application. These records help individuals focus on and renew their commitment to their plan of action, reflect on their experiences, and assess their own efforts. The web tool can provide users with graphic representations of performance measures, which are preferably updated daily. The system can simulate using, e.g., expert systems, a real coach's response to the user's problems and progress during the course of the use of the system, which can be, e.g., 21 days.

The invention provides a mechanical arm on-line obstacle avoidance movement planning method, and relates to the technical field of mechanical arm movement planning. The mechanical arm on-line obstacleavoidance movement planning method comprises the steps that modeling is conducted on a mechanical arm and an obstacle, and a target node is determined through the inverse solution; in the pre-planning stage, sampling is conducted in the joint space to generate a new node, collision detection is conducted on the new node to determine whether the new node is added to a search tree or not, and a node which enables the cost of the new node to be lowest and is located in the search tree serves as a parent node of the new node; first k nodes are planned from the search tree and sent to a track planning device until the situation that the target node enters the re-planning stage is searched out; and in the re-planning stage, sampling is conducted nearby path nodes to optimize a path, the path isplanned again when the obstacle movement and the path conflict, and planned nodes are sent to the track planning device at the same time until a mechanical arm moves to the target node. By the adoption of the mechanical arm on-line obstacle avoidance movement planning method, the path planning and the movement of the mechanical arm are synchronously conducted, the on-line obstacle avoidance movement is achieved, and even though the position of the target node changes, sampling can also be conducted again, and the mechanical arm can be connected with the path and arrive at the target node.

The invention discloses a swarm-robot control method. The swarm-robot control method includes acquiring information of single robot terminals; planing and navigating movement of the single robot terminals according to the information of the single robot terminals; and transmitting movement planning and navigating information to the single robot terminals and controlling the single robot terminals to cooperatively move. The invention further discloses a swarm-robot controller and a controller terminal. The swarm-robot controller comprises a coordination layer, a management layer and an execution layer. The forecast weighted layering information technology is adopted, Mesh networking is carried out via a wireless communication module, by the aid of the method, a control system of swarm robots and individual characteristics of the robots are organically combined, the single robot terminals are controlled to cooperate, accordingly, the advantage that the swarm robots interact and cooperate with each other without manual intervention is realized, work efficiency of collective cooperation of the swarm robots and accuracy and stability of operation in special environments are improved, and collective task execution time of the swarm robots is shortened.

The invention discloses an embedded multinuclear main controller based on an FPGA (Field Programmable Gata Array) chip in the technical field of robot control. The main controller integrates two main modules, namely a Nios II soft core processor and a DSP (Digital Signal Processing) coprocessor, wherein the Nios II soft core processor communicates with a system clock module, a watchdog and resetting system module, a JTAG interface module, a CAN serial bus control module and a memorizer control module by an Avalon bus module; as a hardware computing core, the DSP coprocessor communicates with a Nios II soft core by the Avalon bus module; and the Nios II soft core is responsible for the movement planning of a robot and the communication of each controller at each joint, and the coprocessor is responsible for kinetic resolving. The embedded multinuclear main controller adopts the Nios II soft core as a communication core and the coprocessor as a computing core to realize the rapid and stable control and reduce energy consumption and the volume.

The invention discloses a robot control system which comprises a dual-core processor, wherein the dual-core processor comprises an advanced reduced instruction set computer machine (ARM) processor and a digital signal processor (DSP). According to the robot control system, an ARM+DSP control strategy is adopted; a conventional control mode of industrial computer PC+movement control card+servo drive+servo motor is replaced; an ARM is responsible for movement planning and track planning of a robot; the DSP is responsible for dynamic and kinematic calculation of the robot, the strong calculation performance of the DSP and the peripheral control property of the ARM are sufficiently utilized, and due to the function distribution, the expense of a main control chip can be effectively reduced, a relatively great amount of resources can be used for controlling the security and the precision of the control system, and the cost performance can be greatly improved; the robot control system has EtherNet and pulse analog quantity control modes which can be selected by users, and a servo drive and a servo motor applicable to multiple control modes are provided, so that control methods can be conveniently switched by the users, and relatively good universality can be achieved.

The invention discloses the dynamic forward-looking method and implementation equipment for small program pieces, which uses human-machine interface, task coordination, movement control and programmable controller. It loads the movement control and the programmable controller in the system kernel space, and loads the human-machine interface and the task coordination in the system user space, and communicates with each other through the system sharing communications buffer; the movement control includes two parts of movement planning and axis control; its characteristics are: the movement planning uses dynamic forward-looking method to process the speed planning to the small program pieces interpreted by the task coordination part, and forms the speed set value in processing, and implements the machine servo axis smooth movement by the axis control in the processing. The invention can effectively addresses the speed smooth problem and the pointed transition problem in the small segment processing, thereby improving the surface machining quality of the workpiece.

The invention provides a trajectory control method for a redundant mechanical arm. The method takes a redundant mechanical arm kinematic solving method of a configuration plane as the basis, deduces a speed distribution method of the configuration plane, determines the redundant mechanical arm movement locus planning process of speed distribution based on the configuration plane, deduces the key steps of movement planning: working configuration determination, spatial obstacle avoidance and speed distribution in the configuration plane, can meet the requirements of complex spatial obstacle avoidance, solves the indeterminacy of tail end point locus of the mechanical arm between spatial interpolation points, and can achieve a good movement locus. The invention solves a difficulty of inverse solution of a redundant mechanical arm, is advantageous in high calculation speed and high solving precision, and meets the demands of actual tasks and environment for the locus movement operation of the redundant mechanical arm.

The invention relates to an improved dynamic RRT* mobile robot motion planning method. According to the method, all collision detection in an original RRT* algorithm is eliminated, and a cost functionvalue is controlled by adding a collision risk assessment component in a cost function. When a sampling point or edge collides with an obstacle, the component is remarkably increased, the cost function value is promoted to be synchronously and remarkably increased, the possibility that the point and the edge colliding with each other continue to expand is restrained, and therefore, the algorithmhas the obstacle avoidance capacity. Because the method has no collision detection, compared with an RRT* algorithm, the convergence speed is higher, the efficiency is higher, and the advantages are more prominent in the more complex environment in the aspect of the movement planning problem of the mobile robot.

A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.

The invention provides a man-machine cooperative robot system. The man-machine cooperative robot system comprises a staring tracking assembly, a target recognizing and positioning assembly, an intention predicting assembly and an expected movement planning assembly. The staring tracking assembly tracks and captures a staring focus of a robot user through an eye tracker; the target recognizing and positioning assembly analyzes staring data to determine a region where the robot user stares, and detects and recognizes a target in the region; the intention predicting assembly carries out modeling on correlation between the target concerned by the robot user and the real intention of the user, and determines the intention of the robot user; and the expected movement planning assembly carries out movement planning on a robot by a predicted value provided by the intention predicting assembly. The man-machine cooperative robot system can monitor a staring mode of an operator and predict a task intention in a man-machine cooperative scene, corresponding expected movement is carried out on the basis of the prediction, and therefore, smooth and efficient cooperation between the robot and the robot user is realized.

The invention provides a movement planning method with the speed optimizing characteristic and for an acceleration derivative layer of a redundant manipulator. The movement planning method comprises the steps that a novel performance index with the speed optimizing characteristic is designed according to the performance index of the acceleration derivative layer of the redundant manipulator through two design parameters, namely the guiding-in speed and the acceleration speed; based on the novel performance index, a corresponding movement planning scheme for the acceleration derivative layer is established, and the planning scheme is restrained by the jacobian matrix of the speed, the acceleration speed and the acceleration derivative, the joint angle limit, the joint speed limit, the joint acceleration speed limit and the joint acceleration derivative limit; the planning scheme is converted into a quadratic optimization problem, and the quadratic optimization problem is solved through a solver according to a numerical algorithm; and a lower computer controller controls the manipulator to complete a given terminal task according to a solving result. According to the movement planning method with the speed optimizing characteristic and for the acceleration derivative layer of the redundant manipulator, speed optimization can be achieved on the acceleration derivative layer, and the speeds of all joints can be zero after the manipulator completes the given terminal task.

The invention discloses a rugged-terrain-oriented four-foot robot double-layer structure gait planning method. During upper layer movement planning, landing points of swing legs under each swing phaseare planned according to a gait sequence, and centroid track planning of a robot trunk is carried out on each supporting phase to form the optimal target movement state of each step till the finishing point of a given planned path is reached, wherein the landing points are planned in the mode that a sector search area of the current swing legs in the four-foot robot is built in a grid map, and coordinates of the optimal target landing points are found in a passable area of the sector search area. By using method, the calculation efficiency and the terrain adaptability of the robot are improved under the condition that the movement speed and stability of the robot are not reduced.

The invention relates to the control field of multi-robot formation control, and specifically relates to an adaptive null-space behavior fusion method for a multi-robot formation. The method comprisesthe steps: decomposing a movement process of robots according to the movement intention of the robot formation, determining a behavior sequence, building movement models, performing the solving through combining the execution sequence of three types of movement behaviors to obtain three movement models, solving and obtaining a gain coefficient according to the movement information obtained by therobots in the movement process through feedback, and carrying out the fusion of the movement behaviors to obtain a final speed and direction. Compared with a conventional null-space behavior fusion method, the method enables the solved speed not to change with the changes of a working environment, is good in adaptability, gives consideration to the efficiency and performance, can achieve the effective control of speed, and remarkably improves the movement planning.

The invention discloses a redundancy degree-of-freedom mechanical arm movement planning and evaluating method based on arm-shaped angle interval. The method includes that arm-shaped angle parameters are adopted to describe self movement of a redundancy degree-of-freedom mechanical arm, and self movement characteristics are applied explicitly on a joint position level; arm-shaped angle space avoiding joint extreme and arm-shaped angle space avoiding obstacles are solved, and an intersection set of the two spaces is solved; if the intersection set is not an empty set, any value in the intersection set is substituted into a kinematics inverse model to acquire all feasible mechanical arm kinematics inverse solutions avoiding the joint extreme and the obstacles under a given mechanical arm tail-end pose; sampling is performed in a planned working space, sampling points are evaluated to improve efficiency and accuracy of movement planning, and routes of optimized planning are enabled to better meet arm movement forms of human beings. The intersection set avoiding the joint extreme and obstacle extreme is solved to acquire all feasible inverse solutions avoiding the joint extreme and theobstacle under the given tail-end executor pose, then movement planning is performed, so that a lot of redundancy solutions are excluded. The method is simple, high in efficiency and accuracy and capable of realizing online real-time movement planning.

The invention relates to a six-axis mechanical arm operation method, and particularly relates to a six-axis mechanical arm movement control method based on G code programming, which uses G codes as transit to realize the automatic programming of six-axis mechanical arm movement. The six-axis mechanical arm movement control method based on G code programming comprises the following steps of: (1) constructing a visual model of a six-axis mechanical arm in a 3D (three dimensional) environment; (2) establishing the simulation virtual movement of the six-axis mechanical arm in a matlab simulation control platform; (3) generating G codes according to a path trajectory after drawing with Auto CAD / MasterCAM; (4) planning a movement path by using the generated G codes in combination with the movement characteristics of the six-axis mechanical arm; (5) generating instruction codes according to the movement planning programming of the six-axis mechanical arm, and then carrying out interactive analog simulation movement; (6) overcoming interference problems through interference experiments; and (7) causing the six-axis mechanical arm to complete automatic machining operation in a practical environment. The six-axis mechanical arm movement control method based on G code programming is high in accuracy of machining movement and effectively overcomes or prevents interference problems possibly happening during automatic control.

A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.

The invention discloses a robot control system and control method, and the system comprises the following parts: an obtaining module which is used for obtaining the map information, path information,task type and uploading execution information of a current task; a navigation positioning assembly that is used for collecting the current environment information of the robot and matching the currentenvironment information with the map information to identify the current position of the robot; an execution component; and a driving assembly that is used for generating a movement planning path according to the current position, the path information and the task type and controlling the robot to control the execution component to execute the current task according to the uploading execution information along the movement planning path. Therefore, the problems of semi-automatic operation, incapability of realizing full-automatic, automatic path planning, automatic identification and other intelligent operations, relatively low automation degree, general use experience and the like are solved.

The invention discloses a movement planning method for a mechanical arm. The method comprises the following steps: A, measuring the actual position of the tail end of the mechanical arm and the expected initial position of the tail end of the mechanical arm when the mechanical arm is in an initial state, and calculating the position error of the tail end of the mechanical arm; and B, constructinga Cartesian velocity equation of the mechanical arm, and solving the joint velocity of the mechanical arm by means of pseudo-inverse Jacobian matrix combined with the Cartesian velocity equation of the mechanical arm. The method disclosed by the invention can save the calculated amount greatly, is accurate in calculating result, and can improve the executing precision of the mechanical arm effectively.

The invention relates to a processing path optimization method applied to a machine tool, which comprises the steps of: providing processing program and interpreting the processing program; providing a path planning unit which receives the interpreted processing program and planning a processing path according to numerical control parameter; providing an interpolator of a tension spline track interpolation algorithm to carry out smoothing processing of the processing path; providing a movement planning unit to endow the smoothed processing path with kinetic characteristic according to the numerical control parameter and the interpolator of the tension spline track interpolation algorithm; providing an interpolation unit, to carry out interpolation operation on the processing path data which is subjected to movement planning and has kinetic characteristic to generate an interpolation command according to the numerical control parameter and the interpolator of the tension spline track interpolation algorithm; providing a driver to send the interpolation command to the driver; sending a control signal by the driver to drive and control an axial motor; and providing a position sensing component to feed the position information of the axial motor back to the driver.

The invention is applicable to the field of robot track planning technologies, and provides a complicated workpiece track planning and simulating system on the basis of ROS (robot operating system) platforms. The complicated workpiece track planning and simulating system comprises a model description module, a shape processing module, a movement planning module, a simulating module, a track optimizing module, a program generating module and a communication module. Imported three-dimensional workpiece models and three-dimensional robot models can be transformed into URDF data formats by the model description module; workpieces can be divided into triangular patches on the basis of grid algorithms by the shape processing module, and triangular patch information can be extracted by the shapeprocessing module; robot movement tracks can be planned on the basis of the triangular patch information of selected regions by the movement planning module; movement of three-dimensional robots and end actuators on the basis of planned tracks can be graphically displayed by the simulating module, and operation data of the end actuators can be given by the simulating module; the planned tracks canbe optimized via man-machine interactive interfaces on the basis of simulation results by the track optimizing module; optimized robot movement tracks can be transformed into program language by theprogram generating module; the program language generated by the program generating module can be transmitted to robot controllers by the communication module. The complicated workpiece track planningand simulating system has the advantage that tracks of the complicated workpieces can be planned by the complicated workpiece track planning and simulating system.

Methods for accurately assessing the condition of a petroleum reservoir and designing and implementing a plan of action to increase production and recovery of petroleum from the reservoir. Information is gathered using a unique set of metrics and information gathering techniques and analyzed in a targeted fashion by properly weighting the data in the context of the particular reservoir and goals of the producer. A reservoir rating is generated using asymmetric analysis of metrics and then used to formulate a plan of action. Production architecture (e.g., number, location and manner of constructing oil and injector wells) is then constructed according to the plan of action. Reservoir performance can be continuously monitored and used to verify production and recovery goals and / or provide triggers or alarms to alter production equipment.

The invention relates to a task space based self-collision avoidance control method for real-time movements of a robot. The method comprises the step of tracking an end trajectory of the robot and specifically comprises the following steps: (1) modeling by using a bounding volume according to three-dimensional geometric information of the robot, dividing a body of the robot into different region blocks, and carrying out self-collision detection on region pairs which are formed by every two region blocks; (2) if the condition that the region pairs can be subjected to self-collision is detected, creating a self-collision avoiding task, which is used for adjusting a movement trajectory, in a task space; (3) simultaneously completing the self-collision avoiding task and an end trajectory tracking task. Compared with the prior art, the method has the advantages that the occurrence of self-collision can be avoided during the real-time movement planning of the robot, and the field application of the robot is promoted.

The invention discloses a motion planning method for preventing leftward and rightward inclinations of a humanoid robot and a device using the same, which belongs to the technical field of the motion planning of the humanoid robot. The method comprises the following steps: setting a compensation angle to a motor at a hip joint and a motor corner at an anklebone of a supporting leg respectively; and adding the corresponding compensation angle to planned angles of the motor at the hip joint and the motor corner at the anklebone of the supporting leg respectively. The device comprises a compensation angle setting module which is used for setting one compensation angle to the motor at the hip joint and the motor corner at the anklebone of the supporting leg respectively, and an adding module which is used for adding the corresponding compensation angle to the panned angles of the motor at the hip joint and the motor corner at the anklebone of the supporting leg respectively, wherein the motor at the hip joint and the motor at the anklebone are the motors axially arranged along the forward and the backward directions of the humanoid robot. The motion panning method effectively reduces the phenomenon of the leftward and the rightward inclinations when the humanoid robot is supported by a single leg, and improves the touchdown stability.

The invention provides a halfling-shaped intelligent robot and a control system thereof. An environment sensor sends measured environment information to a task manager; the task manager issues operation tasks to an upper body movement planning device and a chassis movement planning device based on the environment information and task instructions; the upper body movement planning device generatesa mechanical arm joint angle sequence based on the operation tasks and sends the mechanical arm joint angle sequence to a joint servo controller so that the operation tasks can be completed; and the chassis movement planning device generates a chassis motor rotation speed sequence based on the operation tasks and sends the chassis motor rotation speed sequence to a chassis motor controller so thatthe operation tasks can be completed. The environment sensor, the task manager, the upper body movement planning device, the chassis movement planning device, the joint servo controller and the chassis motor controller form the complete halfling-shaped intelligent robot control system, uniform control over the chassis and the upper body is achieved, the convenience of the robot is improved, and market popularization is facilitated; and the halfling-shaped intelligent robot is subjected to layered control, and the reliability and control efficiency of the system are improved.

The invention provides a waist movement planning method and a waist movement planning device for preventing a humanoid robot from tilting back and forth. The robot is provided with two legs which can be used for driving the robot to walk, wherein the waist is provided with a waist joint; and the waist joint comprises a back-and-forth tilting joint which rotates around the waist in the X direction. The method comprises the following steps of: determining a compensation angle for the back-and-forth tilting joint according to specific data; and setting the compensation angle for a rotation angle of a motor in the X direction of the waist of the waist joint, wherein the motor of the waist X joint is a motor of which the axial direction is in the left-right direction of the robot. According to the waist movement planning method and the waist movement planning device, the phenomenon of tilting of an upper body caused by flexible error during single-leg supporting of the humanoid robot can be effectively reduced by compensating the tilt angle of the motor in the X direction of the waist, and the landing stability of a non-supporting leg is improved.

The invention discloses a distributed collision-free movement planning method. According to the distributed collision-free movement planning method, a node corresponding to a movement agent is used for carrying out movement planning on the movement agent, and an expected movement direction of the movement agent is worked out at first according to an expected movement destination, an expected movement speed and static barriers; mobile barriers are searched for in a prescribed range of the expected movement direction according to the expected movement direction of the movement agent; according to the expected movement direction and the expected movement speed of the movement agent, a novel movement direction and a novel movement speed of the movement agent are calculated under constraints of the found mobile barriers; the worked out novel movement direction and the novel movement speed of the movement agent are sent to nodes corresponding to other movement agents, after the nodes corresponding to the other movement agents receive the novel movement direction and the novel movement speed of the movement agent, novel movement planning is carried out on the movement agent corresponding to the node, and the position of the corresponding movement agent of the node is updated. The distributed collision-free movement planning method can effectively improve movement experience of users.

An autonomous action robot includes: a sound acquisition unit that acquires an acoustic signal; a sound source localization unit that estimates a direction of a sound source with respect to the acoustic signal; a distance measurement unit that performs measurements related to distance for a predetermined range; a map information generation unit that generates two-dimensional map information and that estimates a self-location of the autonomous action robot, using information of the distance; a sound source direction determination unit that re-estimates the direction of the sound source based on the two-dimensional map information, the estimated self-location information, and the estimated sound source direction; an action generation unit that generates an action plan based on the two-dimensional map information and the sound source direction estimated by the sound source direction determination unit; and a control unit that controls the autonomous action robot according to the action plan.

The invention discloses a grabbing posture calculating method for the scene that a live-working robot grabs branch lines. The method comprises the steps that (1) a work space is divided in advance according to positions of line grabbing points; (2) a search range is determined in the divided work space; (3) the center of the search range of the work space where the line grabbing points are locatedis selected as a posture for calculating the initial pose; (4) the posture for calculating the initial pose serves as an initial point, all search postures are determined in the search range of a mechanical movement posture in the work space where the line grabbing points are located; (5) all search postures determined through collision detection and screening are used; and (6) the screened search postures are ranked through an evaluation function, simulation planning is conducted, and if a certain candidate search posture is successfully planed, the candidate search posture is selected. Themethod is used for calculating the operation target poses for the scene that the live-working robot grabs the branch lines, and guiding follow-up movement planning, the search precision is high, and the optimal posture judgment reaches 1 degree.