165 results about "Multi joint" patented technology

The embodiment of the invention discloses a trajectory determination method of a multi-joint robot and electronic equipment, and belongs to the technical field of robot control and kinematics. The trajectory determination method of the multi-joint robot comprises the steps that real-time pose information of each joint of the robot is acquired, and the following deviation of each joint is determined according to the real-time pose information and an expected pose; determining the coupling deviation of each joint according to the following deviation of each joint and the influence weight of each joint; and determining a compensation value of each joint based on the coupling deviation of each joint, and inputting the compensation value into a speed control loop of each joint so as to adjust the motion state of the robot. Through calculation and application of the compensation value, the speed output of each joint is dynamically adjusted, so that the overall movement of the robot gradually tends to a synchronous state, thereby reducing the deformation of a tail end track and improving the operation precision.

The invention relates to the technical field of rehabilitation training, in particular to a rehabilitation training method and system integrating a rehabilitation robot and a cloud platform. Comprising the following steps: constructing a standardized motion track data set; joint time sequence features are extracted, coordination deviation in the multi-joint coordination process is analyzed, time sequence coordination deviation distribution is determined, and when deviation exceeds a preset range, an abnormal deviation track and a compensation behavior mode are recognized; generating a personalized training protocol scheme in combination with the compensatory behavior pattern and patient personalized data, and obtaining an optimized motion guidance path through multi-joint collaborative path simulation and parameter correction; training feedback indexes are extracted based on the motion guidance path, the training effect is judged, rehabilitation robot control parameters are dynamically updated, and a continuously optimized function recovery path is formed. The problems that in existing rehabilitation training, multi-joint collaborative evaluation is insufficient, and a training scheme is difficult to dynamically adapt are solved, and intelligentization, individualization and continuous optimization of the rehabilitation training process are achieved.

The invention discloses a bionic ankle joint and an artificial limb, the bionic ankle joint comprises an ankle joint base and a sole mechanism, and the ankle joint base is used for being connected with a leg component; the sole mechanism comprises a front sole component, a rear sole component and at least one elastic piece, the rear sole component is rotationally connected with the ankle joint base, the front sole component is rotationally connected with the rear sole component, one end of the elastic piece is connected with the rear sole component, and the other end of the elastic piece is connected with the front sole component; the elastic component is used for providing elastic restoring force when the front sole component rotates relative to the rear sole component. The sole fitting degree is improved through multi-joint linkage, the gait stability is enhanced, the additional burden caused by uneven stress is avoided, energy recycling is achieved through the elastic piece, energy consumption is reduced, meanwhile, the pedaling effect is improved through elastic assistance in the pedaling stage, the motion characteristic of the bionic ankle joint is closer to the natural state of the human body, and the mechanical performance of the bionic ankle joint is improved. And the matching degree of equipment and human motion characteristics is improved.

The invention belongs to the technical field of six-axis robots, and discloses a method for predicting robot joint friction based on an improved PINN principle and a LuGre model, and the method specifically comprises the following steps: 1, generating a robot excitation track, and collecting the positions, speeds and currents of six joints of a robot; 2, current estimation torque of each joint of the robot is calculated according to the current, and a friction force-speed-displacement mapping of the joints of the robot is obtained; 3, constructing a friction model of the robot based on the improved PINN principle and the LuGre model; and 4, designing a double-neural network learning strategy of the robot friction model. According to the method, the improved physical information neural network PINN and the LuGre model are fused, the multi-joint coupling effect of the six-axis robot and the friction characteristic in the full-speed range can be considered at the same time, accurate prediction of the joint friction force of the six-axis robot is achieved, the prediction precision is improved, and the prediction efficiency is improved. And the problem of physical information loss caused by model simplification is also avoided.

The invention provides a mechanism wear characteristic analysis method considering multi-joint correlation, and relates to the technical field of mechanical wear analys.The method comprises the steps that a direct correlation intensity matrix is determined according to time sequence wear data of all joints of a mechanism, and a wear influence directed graph is generated; in the wear influence directed graph, obtaining all influence transmission paths from any joint to another joint; constructing a first prediction model and a second prediction model by taking a target joint influencing the tail end of the transmission path as a verification object; if the prediction precision of the second prediction model is greater than the prediction precision of the first prediction model, determining that the influence transmission paths are effective, generating an effective path set according to all the effective influence transmission paths, and analyzing the wear characteristics of each joint or the overall mechanism based on the overall mechanism wear correlation network model; the problems that the analysis error is large and the system-level wear evolution rule cannot be reflected due to neglect of joint correlation in a traditional method are effectively solved.

The invention relates to a sports competition training action deviation detection and immediate correction method. The method comprises the following steps: collecting multi-joint dynamic data in a training process; on the basis of a preset inertial conduction continuity criterion, inertial change among all joints of the body is analyzed, and when it is detected that inertial conduction of any joint node is interrupted or an impact value is lower than a threshold value, the joint node is identified as a trigger point of action chain interruption; performing causal priority judgment on the action deviation based on the identified trigger point, determining whether the deviation is a dominant deviation or a subordinate deviation caused by an upstream joint, and if the deviation is the subordinate deviation, tracing an upstream cause and repositioning an intervention target; judging whether the current training stage is in a correction window stage suitable for feedback or not for the deviation which is confirmed to be intervened, and if not, delaying feedback output; and in the window period, trend judgment is performed on the deviation direction, if the deviation causes negative technical degradation, correction feedback is output, and if the deviation trend has positive evolution potential, the deviation is marked as acceptable deviation and is not corrected.

Methods, systems, and / or apparatuses are provided for providing multi-joint assistance for and / or resistance against leg movement of a user. The assistance may be provided to a paretic leg or a prosthetic leg of the user. Kinematic data associated with the paretic or prosthetic leg of the user may be received. The data may include one or more of velocity data, position data, orientation data, or acceleration data for differing portions of the paretic or prosthetic leg. A current phase of a gait motion for the paretic or prosthetic leg may be determined based on the kinematic data. One or more of electrical stimuli or motorized assistance or resistance may be provided to the paretic leg, prosthetic leg, or the remaining portion of the amputated leg based on the current phase of the gait motion of the paretic or prosthetic leg.

The invention discloses an action normalization real-time evaluation method, system and device and a storage medium, and the method comprises the steps: obtaining human body action image data, and carrying out the preprocessing of the data, and obtaining a preprocessed human body action image; performing skeleton point detection on each frame of preprocessed human body action image by using a pre-trained human body posture estimation model to obtain two-dimensional coordinate information of main joints of a human body in each frame of image, and constructing a time sequence skeleton key point sequence; and a time sequence feature analysis algorithm is adopted to analyze the time sequence skeleton key point sequence, multi-joint angle normalization and dynamic fluency evaluation is carried out, and a joint correction suggestion is customized according to an evaluation result. According to the method, quantitative analysis and objective scoring of motion normalization and fluency can be realized without additional hardware equipment, so that the practicability of the evaluation system in scenes of physical education, rehabilitation training, fitness guidance and the like is remarkably improved.

The invention relates to the technical field of robots, and particularly discloses a multi-joint robot fault diagnosis system and method based on a fractional order neural network, the fractional order neural network is adopted, and through the synergistic effect of a fractional order convolution layer, a fractional order pooling layer and a fractional order ReLU function, compared with an integer order model, the fault diagnosis efficiency of the multi-joint robot is improved. According to the method, the non-linear and non-stationary feature capture capability of multi-joint vibration signals is remarkably enhanced, early weak fault features can be accurately extracted, the diagnosis accuracy of early faults such as gear tooth micro pitting corrosion and bearing clearance abnormity is improved, and the weak fault recognition capability is enhanced; a temporary decision maker mechanism under a distributed group learning framework retains the advantage of low communication cost, and meanwhile, through joint loss function optimization and dynamic weight distribution, data privacy protection and model training efficiency are considered, the communication cost is reduced, the training period is shortened, and the system performance is improved. The core requirements of industrial scenes for high precision, low time delay and strong privacy of fault diagnosis are met.

The invention discloses a lower limb multi-joint torque intelligent prediction method and related equipment, and relates to the technical field of joint torque prediction.The method comprises the steps that original surface electromyography sEMG, kinematics data and ground reaction data of a subject under different lower limb movements are collected; kinematics data and ground reaction force data are used as input, and multi-degree-of-freedom angle data and moment data of three joints of the lower limb are obtained through inverse kinematics and inverse dynamics calculation; constructing a lower limb multi-joint torque prediction model through a deep learning technology, and performing model training by using the training set; and inputting the test sample set into the trained lower limb multi-joint torque prediction model to obtain a joint torque prediction result of the subject. According to the method, the problems of low joint torque prediction precision, high calculation cost and the like in the prior art are solved, the method has the advantages of being easy to implement, high in generalization, capable of processing large-scale data and the like, and prediction results are expected to be applied to three-dimensional compliance and modular control of the exoskeleton robot.

The invention relates to an upper limb multi-joint training device, and belongs to the technical field of rehabilitation medical instruments. The device comprises a main motion platform, a driven execution terminal and a connecting mechanism, the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving the upper limbs of a user to complete three-dimensional space compound motion of shoulder and elbow joints; the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform; the driven execution terminal comprises three rotating joints which are sequentially connected in series, and the three rotating joints respectively provide a rotating degree of freedom to correspondingly realize the flexion and extension movement of the wrist joint, the radial ulnar deviation movement and the pronation and supination movement of the forearm. According to the invention, large-range collaborative movement of shoulder and elbow joints and full-degree-of-freedom refined training of wrist joints can be realized at the same time, comprehensiveness of rehabilitation training is improved, and the device is suitable for clinical rehabilitation training of patients with upper limb movement dysfunction.

A robot includes a torso structure, a head structure, robotic arms, gripper structures, and a chassis driving structure. The torso structure includes a lower leg assembly, a thigh assembly, and a thoracic cavity assembly. A first torso motor, a second torso motor, and a third torso motor enable a multi-joint rotation within a plane formed by a first direction and a second direction. A fourth torso motor drives the thoracic cavity assembly to rotate relative to the thigh assembly around an output shaft of the fourth torso motor within a plane formed by the second direction and a third direction. Two opposite sides of the end of the thoracic cavity assembly facing away from the thigh assembly are provided with the robotic arms respectively, and the gripper structures are securely mounted at tail ends of the robotic arms respectively.

The multi-joint robot with the multiple degrees of freedom relates to the technical field of intelligent manufacturing equipment, and comprises a lower shell, an upper shell is arranged on the top of the lower shell, and a multi-joint mechanism is arranged on the upper shell; the multi-joint mechanism is composed of a six-axis mechanical arm fixed to the center of the top of the upper shell and an inner driving motor fixed to the bottom of the six-axis mechanical arm, the inner driving motor is located in the upper shell, and self-tensioning crawler belt mechanisms are symmetrically arranged on the two sides of the lower shell. The output shaft drives the rotating disc and the driving frame to move, rotary motion is converted into reciprocating swing of the swing frame, then the mounting frame and the supporting roller are driven to do synchronous reciprocating motion, the supporting roller pulls the connecting belt to move, and the cleaning brushes evenly arranged on the connecting belt synchronously act along with the connecting belt and are tightly attached to the surface and gaps of a walking crawler belt. Through brushing, sweeping and scraping actions, impurities such as metal chippings and cutting dust attached to the gaps of the crawler belts are effectively stripped, and dynamic brushing of the gaps of the crawler belts in the walking process is achieved.

1. Name of the designed product: mechanical arm (multi-joint for dangerous object disposal robot) 2. Use of the designed product: mechanical arm for grabbing dangerous objects for disposal 3. Design points of the designed product: in shape 4. Picture or photo best indicating the design points: perspective view 1

This invention discloses a fault diagnosis method for hydraulically driven multi-joint robot systems, belonging to the field of multi-joint robot fault diagnosis technology. It aims to solve the problems of easy misjudgment based on single parameters, difficulty in tracing the source of anomalies in related parts, and difficulty in adapting to complex environments and multi-stage operations. The method includes: dividing the operation into stages, identifying key parts, collecting operational and environmental parameters and storing them according to association patterns to establish a dynamic association library; dividing environmental intervals, combining the operation stages and environmental intervals to construct a model containing single parameters and collaborative benchmarks, and matching the model through environmental anomaly diagnosis; comparing the current parameters with the model, diagnosing and locating abnormal components, and analyzing the proportion of abnormal parameters, correlation coefficients, and degree of collaborative deviation to determine potential faults; if a fault exists, establishing an association graph and fault influence chain to identify the source of the anomaly. This achieves multi-dimensional accurate diagnosis, reduces misjudgments, efficiently traces the source of anomalies, and improves the adaptability of fault diagnosis in complex environments and multi-stage operations.

The invention discloses a posture control method and system of a discrete gravity center double-wheel-foot robot and a storage medium, and relates to the technical field of gravity center control. Discrete configuration and rapid switching of the gravity center position are achieved by actively adjusting hip joints and knee joints, and a robot model is established based on multi-rigid-body dynamics; simplifying the model into an inverted pendulum linear model family with parameters changing along with the gravity center in the front-back direction; a plurality of discrete gravity center working conditions are preset, each working condition corresponds to a specific joint target angle and model parameters, and the optimal working condition is selected for switching according to the real-time posture and the motion state; and designing a cooperative control law by adopting a linear quadratic regulator, and finally, realizing stable attitude control of the robot under complex terrains and disturbances through multi-joint cooperative execution. According to the method, the disturbance rejection capability and the attitude stability margin are remarkably improved through discrete gravity center configuration, meanwhile, the model complexity and the real-time calculation burden of continuous gravity center adjustment are avoided, and control performance and engineering realizability are achieved at the same time.

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 invention relates to a detection system. The detection system includes a robot arm, a laser sensor, and a control device. The robot arm includes a base, a multi-joint arm connected to the base, and a capacitance-type proximity sensor provided on the multi-joint arm and detecting an interfering object. The laser sensors are provided at positions facing each other with respect to the base, and emit laser light in a direction substantially parallel to a mounting surface of the robot arm to detect an interfering object. The control device stops or decelerates the operation of the robot arm on the basis of the detection result of the interfering object obtained by at least one of the capacitive proximity sensor and the laser sensor. The beneficial effect is that the interference object approaching the mechanical arm can be detected in a high-precision and large-range manner.

To shorten time until a solution converges in iteration, in a method for controlling a robot's operation.SOLUTION: A method for controlling an articulated robot's operation includes: a first step of outputting a first joint angle that is a joint angle at the first time, regarding at least one joint; and a second step of outputting a second joint angle that is the joint angle at the second time after the first time by iteration, through the use of an initial value set by using the first joint angle output in the first step, so as to output the second joint angle, regarding the at least one joint.SELECTED DRAWING: Figure 4

The invention discloses a double-rocker double-rotation butterfly machine, and relates to the field of indoor fitness facilities, the double-rocker double-rotation butterfly machine comprises a main frame group, and a main rocker group and an auxiliary rocker group which are movably connected to the main frame group, the main rocker group and the auxiliary rocker group are connected and linked through a middle connecting rod group, the middle connecting rod group is movably connected with a handle group, and the handle group is connected and linked with the main rocker group. Compared with an existing conventional butterfly machine body builder, turning rotation and movement of the upper limbs are achieved through transmission of the double rocker arms and a gear mechanism, rotation movement can be conducted while opening and closing actions are conducted, and actions of large muscle groups and joints of the upper limbs of the human body can be matched; the handle sleeve rotates and slides along the handle rod to be matched with actions of small muscle groups and joints of the hands, different chest clamping actions can be matched for multi-muscle group and multi-joint exercise, more control choices are provided for a user in the aspect of control, and the multi-degree-of-freedom chest clamping device has more advantages in the aspect of diversified exercise training requirements and use experience; and batch production and market popularization are easy, and good market value and social value are achieved.

The invention discloses metro foundation pit excavation equipment based on multi-joint linkage and a bionic training method of the metro foundation pit excavation equipment, and relates to the field of metro foundation pit excavation equipment. The equipment comprises a rack, a control cabin, a transportation device, a large arm, a small arm, a bucket, a large arm steering wheel, a small arm hydraulic motor steering wheel, an ultrasonic radar device, a laser radar device, a high-definition camera, a central controller and a crawler walking device. And in combination with multi-sensor fusion data, the success rate of operation obstacle avoidance in a complex, narrow and closed space can be greatly improved.

The application discloses a kind of multi-joint robot arm UDE control method with input saturation and output constraint, specific steps include: (1) establish the multi-joint robot arm dynamics model with input saturation and time-varying output constraint under joint space;(2) using the Jacobian matrix of robot arm, the dynamics model obtained in step (1) is converted, and the multi-joint robot arm dynamics model under task space is obtained;(3) design nonlinear state constraint function to ensure that time-varying output constraint is not violated.(4) design UDE, for approximating the unknown term of robot arm dynamics;(5) define tracking error signal;(6) combined with backstepping method, a stable trajectory tracking controller based on UDE is designed for the robot arm system under task space.The application can realize accurate trajectory tracking of robot arm under the condition of modeling error, input saturation and time-varying output constraint, and ensure the satisfaction of input saturation and time-varying output constraint.

The invention relates to a multi-joint layered cooperative intelligent control method for a power-assisted exoskeleton, and belongs to the field of robot exoskeletons. Comprising the following steps: acquiring a real-time hip joint angle, updating an adaptive oscillator model based on the real-time hip joint angle, and obtaining a real-time gait phase; segmenting the real-time gait phase to obtain gait phases of a plurality of first sampling points; acquiring the height, the weight, the lower limb joint center and the stride frequency of the user to construct a power-assisted curve of the relation between the lower limb joint power-assisted torque and the gait phase; and acquiring the actual torque of the lower limb joint corresponding to each first sampling point, inputting the gait phase corresponding to each first sampling point into the power-assisted curve for updating to obtain an optimized power-assisted curve, and realizing power assistance of the lower limb joint based on the optimized power-assisted curve. According to the method, the hip joint angle and the moment thereof and the knee joint angle and the moment thereof are associated through the same gait phase, cooperative assistance of the hip joint and the knee joint is achieved, the effectiveness and smoothness of exoskeleton assistance are improved, and the user experience is improved.

The utility model relates to the technical field of hand multi-joint collaborative rehabilitation, in particular to a hand multi-joint collaborative rehabilitation trainer which comprises a base, a roller is arranged at the top of the base through a connecting assembly, a driving block is transversely arranged in the center of the interior of the roller, and the five faces of the roller are each connected with a set of training rods in a sliding mode. Each group comprises five training rods, five electromagnets are fixedly installed on the top of the driving block, the five electromagnets correspond to the five training rods of each group respectively, and the five electromagnets are powered by independent loops respectively. The device has the advantages that the magnetic force is adjusted by changing the current intensity of the electromagnet, then the force required by a patient to pull the training rod is changed, difficulty is gradually increased along with the recovery progress of the patient, personalized training is achieved, training singleness is avoided, the training rod is randomly attracted to descend, and the patient pulls the training rod back to the original position as soon as possible; the hand muscle strength of the patient is exercised, and the brain reaction speed and the hand-brain coordination ability of the patient are improved.

The invention discloses a contour error compensation method and device for a robot, a robot system, a storage medium and a computer program product, and the method comprises the steps: determining a contour error estimation value of a tail end according to the joint angle information of each joint of a multi-joint robot, and inputting the contour error estimation value into a preset PI controller, the contour error estimation value is controlled through a PI controller, a PI control output value is obtained, the PI controller output value is multiplied by the compensation distribution coefficient corresponding to each joint, a joint speed compensation value corresponding to each joint is obtained, the joint speed compensation value corresponding to each joint is applied to the corresponding joint, and the joint speed compensation value corresponding to each joint is obtained. Therefore, the motion of each joint of the multi-joint robot is corrected and compensated. According to the scheme, the contour error of the multi-joint robot is effectively reduced, and the tail end track precision and the motion stability are improved.

The utility model provides a multi-joint robot for a narrow space, which comprises a base, a first joint is arranged on the base, a second joint is arranged on the first joint, a third joint is arranged on the second joint, a fourth joint is arranged on the third joint, a fifth joint is arranged on the fourth joint, and the fifth joint is arranged on the fifth joint. And a sixth joint is arranged on the fifth joint. The height of the first joint is adjusted by driving the first joint to slide in the sliding groove a, and the rotary driving piece a drives the first joint to rotate in the sliding groove a through the transmission assembly; the rotary driving part b drives the third joint to rotate, the linear driving part b drives the fourth joint to slide in the sliding groove b and adjust the position of the fourth joint, and the rotary driving part c drives the gear c to rotate and drives the fourth joint to rotate in the sliding groove b. Compared with a tandem type vertical six-axis robot, the multi-joint robot saves more space.

The utility model discloses a multi-joint mechanical arm which comprises a base plate, a counterweight assembly is installed on the top wall of the base plate, a lifting assembly is fixedly installed on the top wall of the counterweight assembly, and an adjusting assembly is installed on the right side wall of the lifting assembly. According to the multi-joint mechanical arm, under the mutual cooperative work of the counterweight assembly, the lifting assembly and the adjusting assembly, the outwards-extending working range of the first mechanical arm body, the second mechanical arm body and the third mechanical arm body can be adjusted, and adjustment and adaptation can be conducted on objects needing to be grabbed in different heights and different directions; and the working range and functionality of the whole device are further expanded, and the good using effect is achieved.