26 results about "Multi joint" patented technology

The wheel-foot conversion multi-legged robot comprises a body, the side surface of the body is provided with a plurality of driving parts distributed in the circumferential direction, a multi-joint leg, the proximal end of the multi-joint leg is hinged to the driving part, the multi-joint leg comprises a plurality of joint arms arranged in a straight line and hinged in sequence, wherein the two ends of the joint arm farthest from the proximal end are respectively provided with a walking wheel and a gripping foot, both can support and drive the wheel-foot conversion multi-legged robot, and the robot realizes wheel running and foot running mode conversion by switching the use of the walking wheel and the gripping foot of the multi-joint leg. The multi-legged robot designed by the utility model can be switched between the use of the walking wheel and the gripping foot, and then the wheel running and foot running mode conversion is realized, and the innovative design significantly enhances the obstacle crossing ability of the robot.

The embodiment of the application discloses a kind of multi-joint robot control method, system and multi-joint robot, control method includes based on robot dynamics model establishes single joint impedance control model;Based on single joint impedance control model, the cut-off frequency of robot control system and critical damping condition determine the stiffness range of single joint;Utilize the stiffness maximum value of stiffness range and corresponding damping value of single joint;Based on dynamics model establishes multi-joint impedance control model and Cartesian impedance model;Based on multi-joint impedance control model and Cartesian impedance model, joint control law is obtained;Based on joint control law, utilize the stiffness maximum value of single joint and corresponding damping value, carry out optimal impedance control, the technical problem that precision is lower when existing technology utilizes impedance control method to carry out dynamic performance control to robot is solved, realizes the technical effect of improving the control precision of robot.

A motion unit of a disclosed walking training system includes a support unit including an actuator support part of a predetermined height, and an actuator including a first link connected to the actuator support part at one end through a first joint, a second link connected to the other end of the first link through a second joint at one end, and a pedal connected to the other end of the second link through a third joint, and further includes a structure in which a first driving motor for rotating the first link with respect to the actuator support part is installed at the first joint, a second driving motor for rotating the second link with respect to the first link is installed at the second joint, and a third driving motor for rotating the pedal with respect to the second link is installed at the third joint.

This invention provides a highly versatile horizontal multi-joint robot. A horizontal multi-joint robot is characterized by comprising: a base; a first arm connected to the base and rotating about a first axis; a second arm connected to the first arm and rotating about a second axis parallel to the first axis; a third arm connected to the second arm and moving along a third axis parallel to the second axis; a limiting member for limiting the rotation of the third arm about the third axis; a drive unit for moving the third arm along the third axis; and a mounting part for mounting the drive unit that rotates the third arm about the third axis, wherein the horizontal multi-joint robot does not have a drive unit for rotating the third arm about the third axis.

This invention belongs to the field of rehabilitation training technology. It provides a method and system for analyzing upper limb rehabilitation training data, including the following steps: During the upper limb rehabilitation training process, static single-joint training parameter data and dynamic multi-joint collaborative training parameter data are collected in real time. The static single-joint training parameter data is then used to identify whether it meets the pain-free standard. This invention optimizes the problem of focusing only on single-joint data and ignoring multi-joint linkage and collaboration in upper limb rehabilitation training data analysis. It first identifies the static single-joint pain-free standard to eliminate basic interference, then filters and analyzes high-incidence combinations of multi-joint pain, and then reverse-engineers the final balance range where pain level meets the standard and range of motion is maximized, assessing the degree of achievement. Finally, it combines a safe expansion span to generate a stepped optimization range and predicts feasibility using a rehabilitation trend synergy index, achieving a shift from experience-driven to data-driven approaches.

A multi-joint control method, a controller, and a computer-readable storage medium. The multi-joint control method comprises: constructing a joint control function; on the basis of acquired desired positions of multiple joints and the joint control function, obtaining motion data of each joint; and on the basis of the motion data, controlling all the joints to move to the desired positions. By constructing a joint control function, obtaining motion data of all the joints on the basis of desired positions of all the joints and the joint control function, and controlling, on the basis of the motion data, all the joints to move simultaneously, the purpose of improving the control efficiency and coordination is achieved.

A multi-joint robot (1) includes: a robot arm (6-10); a wrist portion (5) provided at a front end of the robot arm (6-10); an end effector (2) attached to the wrist portion (5); and a cable (13) connecting the end effector (2) and an end effector controller (14) to each other, the end effector controller (14) being fixedly provided on the ground. A cable fixing member (12A) that supports an intermediate portion of the cable (13) is provided at a position away from the robot arm (6-10).

This application provides a method for full-process safety situation awareness in live-line work on power distribution networks, including: acquiring real-time three-dimensional coordinates of each joint of the worker from a multi-joint skeletal tracking unit deployed on an insulated bucket truck; extracting the real-time angles between the lines connecting the shoulder and elbow joints and the elbow and wrist joints as the elbow abduction angle; generating a set of three-dimensional coordinates of key contour points on the worker's body surface based on the real-time three-dimensional coordinates of each joint, combined with preset skin layer thickness and contour outward distance at each skeletal node; comparing the real-time elbow abduction angle with a preset first threshold, triggering a dynamic recognition process when the elbow abduction angle exceeds the first threshold; and fusing the safety distance monitoring data for the most prominent part with the conventional safety distance monitoring data for the head and shoulder area to obtain a comprehensive safety distance monitoring result.

The application discloses a multi-joint machine dolphin with independently adjustable body wave frequency and amplitude, which comprises a dolphin shell, a frequency modulation driving mechanism located in the dolphin shell, an amplitude modulation slide rail mechanism located in the dolphin shell, a driving motor located in the dolphin shell and used for driving the frequency modulation driving mechanism, and a rudder located in the dolphin shell and used for driving the amplitude modulation slide rail mechanism. The frequency modulation driving mechanism comprises a driving joint and a plurality of driven joints which are connected in series with the output shaft of the driving motor in sequence. The tail of the last driven joint is hinged to the tail end of the amplitude modulation slide rail mechanism. The frequency modulation driving mechanism drives the dolphin shell to swing in a wave shape. The frequency modulation driving mechanism adjusts the swing frequency by adjusting the rotating speed of the driving motor. The amplitude modulation slide rail mechanism adjusts the swing amplitude by adjusting the distance between the driving joint and the driven joints through the rudder. The dolphin body can swing in a wave shape, and the swing frequency, the swing amplitude and the wave shape can be independently adjusted.

The application relates to the technical field of robots, and discloses a fault diagnosis method, an electronic device, a storage medium and a program product. In the method, an electronic device obtains actual state information of N joints of a multi-joint robot at a current time; for any target joint of the N joints, the actual state information of N-1 joints except the target joint is input into a first model to obtain first state prediction information and a predicted fault token of the target joint at the current time; a first prediction residual of the first state prediction information and the actual state information of the target joint is determined; in the case that the first prediction residual is greater than or equal to a first preset residual threshold, sequence features of a prediction residual sequence of the target joint within a first preset time length are determined; and based on the sequence features, the actual state information of the target joint and the predicted fault token, a target fault mode and a target severity of the target joint are obtained. The method can improve the accuracy of fault diagnosis.

1. Name of the designed product: multi-joint robot arm. 2. Use of the designed product: used in industrial production instead of manual operation. 3. Design points of the designed product: in shape. 4. Picture or photo best showing the design points: perspective view 1.

This invention relates to a method and system for predicting torque at multiple joints in the human body. The method includes the following steps: Step 1: Acquire electromyographic signals and joint kinematic information, calculate the data of the target joint muscle group, and form a time-aligned group training dataset; Step 2: Sequentially construct a convolutional feature extraction module, an attention pooling module, and an MLP parameter output head module to synthesize a convolutional-attention neural network; Step 3: Construct a composite loss function to obtain the initial parameter vector at the group level; Step 4: For the individual to be deployed, collect its short-time continuous data segments as calibration segments, obtain the final parameter vector x of the individual, and save it; Step 5: Construct a multi-dimensional B-spline function mapping from the kinematic information of the target joint to the muscle and tendon unit length, torque arm, and feather angle of the target joint muscle group; Step 6: Output the real-time torque prediction value of the target joint. This method can obtain high-precision torque prediction results.

Disclosed are a gait training system and a gait training method. The gait training system is provided with: a gait exercise part provided with two exercise units, one on the left and one on the right, for gait training of a patient; and an electronic device for controlling same. Each of the two exercise units is provided with: an actuator as an end-effect type robot that controls the movements of both feet for gait training of the patient; and an actuator support that serves as a reference point for the movement of the actuator. The actuator of each of the two exercise units is provided with: a first joint mounted on the actuator support; a first link of which one end is connected to the support by the first joint; a second link of which one end is connected to the other end of the first link by a second joint; and a footplate connected to the other end of the second link by a third joint, wherein the footplate generates gait motions in various modes to control the movement of a foot of the patient.

The present invention relates to a multi-joint robot having a connection-type multi-joint unit. A block-type module for a multi-joint robot, according to the present invention, comprises: a multi-joint unit having, at one end thereof, a first connection terminal that is electrically connected; and a control unit which is provided with a second connection terminal electrically connected to the first connection terminal and to which the multi-joint unit is detachably coupled, wherein a controller provided inside the control unit controls a motor unit driving joints of the multi-joint unit by energization of the first and second connection terminals.

A multi-joint lighting device including a tension arm assembly according to the present invention includes a lighting unit including a light emission module configured to radiate light toward a target, a head arm assembly connected to the lighting unit, a base arm assembly connected to a settling base fixed to a predetermined settling point, and a tension arm assembly having one side tiltably connecting the head arm assembly and the other side tiltably connected to the base arm assembly and providing tension compensating for self-loads of the head arm assembly and the lighting unit according to a tilting angle of the head arm assembly to implement a free-stop height adjustment operation of the lighting unit.

The application discloses a kind of machine dog joint gap online compensation method and system, it is related to machine dog joint control technical field.A kind of machine dog joint gap online compensation system, including have: machine dog movement monitoring module and machine dog movement compensation module.The application obtains joint dynamics information and foot end dynamics information by dynamic, can real-time monitoring machine dog in complex environment Motion state, to provide accurate basis for subsequent compensation;By dynamics topological decoupling to machine dog, complex multi-joint system is decomposed into multiple independent joint control unit, improve control accuracy and response speed, make system more stable under different load conditions;By real-time distinguishing joint is in clearance stagnation period or rigid engagement period, can dynamically adjust compensation strategy, different compensation measures are taken for different motion state, to significantly improve motion accuracy and stability.

A robot system (1) includes a robot (2) having a tool (S) attached to a front end wrist axis (10), a sensor (3) that detects a position and an orientation of a workpiece (W), and a control device (4) that controls the robot according to a program of movement including a plurality of teaching points that specify positions and orientations of the tool and movement commands that move in a direction in which a rotation amount to each joint between the teaching points is minimized. The control device corrects the position and the orientation of the tool at a first teaching point (P3) at which work is performed on the workpiece based on the position and the orientation of the workpiece detected by the sensor, determines whether an angle of the front end wrist axis at the first teaching point (P3) calculated based on the corrected position and the corrected orientation of the tool exceeds a movement limit, and changes the angle of the front end wrist axis at the first teaching point (P3) and one or more other teaching points (P2; approach positions) adjacent to the first teaching point to an angle within a movement range that is increased or decreased by 360°, respectively, in a case where it is determined that the movement limit is exceeded.

A multi-joint robot (1) includes a base (2), an arm (3) supported so as to be able to rotate relative to the base (2) about a prescribed axis (A) within a rotation angle range of less than ±180°, and a hollow support column (6) erected from the base (2) in parallel with the axis (A) outside the rotation angle range of the arm (3), a wire member (20) being routed from the base (2) to the arm (3) via the inside of the support column (6). The multi-joint robot (1) includes a stopper (16) embedded in a side surface of the support column (6) so as to abut against a side surface of the arm (3) rotated beyond the rotation angle range.

A single robot can perform the actions of multiple different types of robots. [Solution] The robot 10 control method is a control method for a multi-joint robot having seven or more joints, and the robot 10 is set up with multiple drive modes, each of which at least one of the multiple joint mechanisms JE is associated as the target joint mechanism JE to be driven, and the robot controller 30 selects one of the multiple drive modes and performs a calculation process including inverse kinematics calculation, which calculates the displacement amount of the target joint mechanism JE identified based on the selected drive mode among the multiple joint mechanisms JE by calculating the value of each element of the Jacobian matrix linked to the drive mode, thereby calculating joint values ​​for each state of the multiple joint mechanisms JE so that the robot 10 reaches the desired state, and controls the operation of the robot 10 based on the joint values ​​of the multiple joint mechanisms JE calculated in the calculation process.

A MPC-based redundant robot multi-joint coupling control method, comprising: acquiring 6 / 7-axis coupling motion range boundary data provided by a manufacturer, constructing a quadratic coupling cost function, explicitly adding a coupling cost item to an MPC target function, solving an MPC optimization problem with the coupling cost, issuing a control instruction, issuing the first control quantity in the solved optimal control sequence to the driver of each joint of the robot, controlling the motion of the robot, and entering the next control cycle, which can normally reach the specified pose without destroying the convex optimization structure at a specific pose.

The application discloses a steerable multi-joint anatomical forceps, and relates to the technical field of medical machinery. The steerable multi-joint anatomical forceps comprises a forceps body and an arc-shaped end provided at the end of the forceps body. A hinge seat is arranged at the connection between the forceps body and the arc-shaped end, and a hinge part corresponding to the hinge seat is arranged on the arc-shaped end. The steerable multi-joint anatomical forceps further comprises a precision steel cable used for driving the arc-shaped end to rotate around the hinge seat. The surface of the arc-shaped end is covered with a contact layer, and the contact layer has a containing cavity inside. The steerable multi-joint anatomical forceps avoids setting a complex structure at the joint, and reduces the complexity and manufacturing cost of the instrument. Moreover, the application adopts a magneto-rheological fluid locking technology. Locking and unlocking only need to be realized through electromagnetic control, there is no mechanical wear, the response is rapid, and stepless locking can be realized at any angle. The steerable multi-joint anatomical forceps guarantees the flexibility during operation, ensures the absolute stability after locking, avoids accidental injury risks caused by instrument shaking during operation, and has the advantages of the like.

A vertical multi-joint robot capable of improving motion performance is provided. The fifth arm (225) includes: a first bearing (350A) disposed in a first opening (110), having an outer ring (350A1) and an inner ring (350A2) and supporting a first shaft (310) for rotation; and a pressing part (700) having a retaining part (710) fixed to a first protrusion (620) and an elastic member (720) disposed between the retaining part (710) and the first bearing (350A), and pressing the outer ring (350A1) from the outside along the rotation axis (J5), and an operating part (311) protruding outward from the first protrusion (620) and the pressing part (700).

The application provides a lower limb multi-joint angle prediction method, system, device and medium, the method comprises the following steps: collecting multi-modal data of a user, and preprocessing the multi-modal data to obtain a data set; the data set is divided into a training set and a test set, and the training set is embedded to obtain an embedded training set; using the embedded training set, a preset structure double tower model is trained to obtain a lower limb multi-joint angle prediction model; using the test set, the prediction result of the lower limb multi-joint angle prediction model is evaluated to obtain an evaluation result. The application provides a lower limb multi-joint angle prediction method based on a double tower Transformer and multi-modal data to solve the problem that the current lower limb joint angle prediction technology based on multi-modal data ignores muscle and joint coordination, and builds space-time features in the double tower Transformer architecture to improve the prediction performance of the model.

A robot control method and control device shorten the production cycle of workpiece handling when using a horizontal multi-joint robot to handle workpieces. When performing a rotational motion in which the hand (30) rotates from a state facing a first direction to a second direction while the arms (21, 22) are folded and overlapped, and a lateral movement motion in which the arms (21, 22) drive the hand (30) to move parallel to the second direction, the angle between the first direction and the second direction is defined as θ. The rotational motion is divided into a first rotational motion with a rotation amount of -θ and a second rotational motion with a rotation amount of θ. The movement motion formed by combining the second rotational motion and the lateral movement motion is defined as a composite motion. The first rotational motion and the composite motion are executed continuously.