26 results about "Passive joint" patented technology

The invention relates to the field of robots, in particular to a robot, a walking control method and device thereof and a program product. The method comprises the steps that the stability of the robot in different states is collected, and balance evaluation index items of the robot are determined according to the stability of the robot in different states; determining a target function of the robot according to the balance evaluation index in combination with a predetermined robot metabolism energy consumption rate item, a muscle activation level item, a joint acceleration item, a passive joint torque item and an arm driving excitation item; performing optimization simulation on the target function to determine an angle change curve of each joint of the simulation robot; and controlling the robot to walk according to the angle change curve. The objective function comprises the balance evaluation index item and the walking smoothness index item, so that the walking stability and smoothness of the robot can be effectively improved in the optimized walking control process, and the performance of the robot in practical application is improved.

The invention provides a bionic robotic fish system for realizing active and passive mode switching and a control method, and belongs to the technical field of underwater bionic robots. The robot comprises a shell, a control module, a power module, a pectoral fin module, an active driving joint module, a mode switching joint module, a tail fin and a tail handle structure, and the mode switching joint module can achieve switching between an active driving joint mode and a flexible passive joint mode; modal selection is achieved through a motion modal selection algorithm, motion control of the bionic robotic fish system is achieved through a bionic control optimization algorithm, the active driving joint module and the modal switching joint module are controlled through the modal generator, and the optimal modal and the stable navigation posture of the bionic robotic fish system are obtained. The problems that in the prior art, a bionic robotic fish system is single in structural mode, a variable stiffness mechanism is complex, and the motion mode switching function is insufficient are solved, and the motion performance and the adaptive capacity of the bionic robotic fish system in complex water area operation are improved.

An underwater vehicle for performing subsea operations is disclosed. The underwater vehicle (100) comprises a hull (101) comprising a nose end (102) and a tail end (103); a propulsion mechanism (105) configured to propel the underwater vehicle (100); a passive joint module (104) connecting the propulsion mechanism (105) to the hull (101) at one of the tail end (103) or the nose end (102) of the hull (101); and a controller (110) in communication with the propulsion mechanism (105). The propulsion mechanism (105) comprises a pair of propulsion devices (150) configured to generate thrust to propel the underwater vehicle (100) through water, the thrust of each propulsion device (150) being independently controllable. The controller (110) is configured to control an angle at which the passive joint module (104) connects the propulsion mechanism (105) to the hull (101) through independent control of the thrust of each of the propulsion devices (150).

The present application relates to a kind of plane five-pole closed-chain rehabilitation robot elimination modeling and force mapping control method, belong to rehabilitation robot control technical field.The method is aimed at the coupling of active joint and passive joint in plane five-pole closed-chain mechanism, control implementation difficulty under active joint coordinates and the problem that driving torque is difficult to accurately map as end force, establishes closed-chain position constraint equation, obtains velocity constraint relationship by derivation to constraint equation, under the nonsingular condition of passive joint constraint jacobian matrix, passive joint variable is explicitly eliminated, constraint consistent jacobian matrix is constructed, reduced dynamics equation under active joint coordinates is established, end force estimate is solved, and motor driving torque instruction is generated according to the end force estimate.The method is suitable for end impedance control, trajectory tracking control and rehabilitation training boost control of plane five-pole closed-chain rehabilitation robot.

The application discloses a hand exoskeleton for capturing finger movement and a finger configuration reconstruction method, and can realize full-space precise movement capturing of human fingers and reconstruction of finger configurations. The hand exoskeleton is composed of a plurality of serial kinematic chains and a common base, each serial kinematic chain comprises one active joint and five passive joints, and a magnetic rotation angle sensor is arranged on the joint to realize movement capturing of the end of the serial kinematic chain. The serial kinematic chain forms a parallel structure with a human finger to realize six-degree-of-freedom precise movement capturing of the end of the human finger. Captured human finger tip movement is reconstructed through a circular arc fitting algorithm, and the finger movement configuration can be displayed in real time in a three-dimensional visual simulation environment. According to different requirements, the number of serial kinematic chains on the base can be increased or reduced, and hand movement can be reproduced in real time in a three-dimensional simulation environment, and experience is improved.

An underwater vehicle for performing subsea operations 100 comprises a hull 101 comprising a nose end 102 and a tail end 103; a propulsion mechanism 105 configured to propel the underwater vehicle; a

The invention provides an active and passive combined tracking method based on volume Kalman filtering, and relates to the technical field of underwater target tracking. The specific implementation mode is as follows: constructing a target state model for a tracking target based on a target state vector; constructing respective observation models of the active sonar and the passive sonar based on the target state model; respectively processing the sound wave data received by the active sonar and the passive sonar through volume Kalman filtering to obtain respective estimation data of the active sonar and the passive sonar; and fusing the respective estimation data of the active sonar and the passive sonar by using an information fusion strategy designed based on a variance fusion rule to obtain a fusion target state vector estimation result, thereby obtaining a target fusion track. According to the technical scheme, the distributed fusion strategy is adopted, the disadvantages of a single sonar detection method in the aspects of observation dimension, sampling frequency and sound wave data transmission loss are optimized, and therefore the precision of target state estimation is improved.

The invention relates to a universal swing-up stabilization control method for a vertical multi-link mechanical arm with a single passive joint, which belongs to the technical field of robot control and comprises the following steps: S1, establishing a mechanical arm dynamic model with a single passive joint configuration by adopting a Lagrangian method; s2, designing a system track based on initial and target states of the system; s3, designing a switching condition through a track error threshold value and a parameter coupling relation; s4, performing off-line optimization on the trajectory parameters by adopting an ant colony optimization algorithm; s5, designing a sliding mode tracking controller for avoiding singular values; and S6, designing a stabilizer.

An exoskeleton includes a frame; and an actuation system. The actuation system includes a transmission device; a passive joint mechanism connecting the frame to the transmission device, the passive joint mechanism having a four-bar linkage; and a drive system couples the passive joint mechanism to the transmission device, and is arranged to drive the transmission device.

This invention relates to a method for elimination modeling and force mapping control of a planar five-bar closed-chain rehabilitation robot, belonging to the field of rehabilitation robot control technology. This method addresses the problems of coupling between active and passive joints in planar five-bar closed-chain mechanisms, difficulties in achieving control in active joint coordinates, and the difficulty in accurately mapping driving torque to end-effector force. It establishes closed-chain position constraint equations, obtains velocity constraint relationships by differentiating the constraint equations, explicitly eliminates passive joint variables under the condition that the passive joint constraint Jacobian matrix is ​​non-singular, constructs a constraint-consistent Jacobian matrix, establishes reduced dynamic equations in active joint coordinates, obtains the estimated end-effector force, and generates motor drive torque commands based on the estimated end-effector force. This method is applicable to end-effector impedance control, trajectory tracking control, and rehabilitation training assistance control of planar five-bar closed-chain rehabilitation robots.

The invention discloses a water surface omni-directional swimming robot. The water surface omni-directional swimming robot comprises a robot body and two swimming feet connected to the robot body. Wherein one of the two swimming feet is controlled to swing, and the other one of the two swimming feet is controlled not to swing, so that the water surface omnidirectional swimming robot moves in the plane where the robot body is located and moves in the direction of the other one of the two swimming feet; the two swimming feet are controlled to swing synchronously, so that the water surface omni-directional swimming robot moves along the normal square of the plane where the robot body is located. The invention further discloses a motion control method of the water surface omni-directional swimming robot. The invention further discloses a swimming robot with the swimming foot and a control method of the swimming robot. The water surface omni-directional swimming robot can move omni-directionally only by using the two multi-passive-joint propellers, and the number of the propellers is reduced.

The application discloses a hybrid five-degree-of-freedom micro-assembly robot, which comprises a robot base, a five-degree-of-freedom hybrid mechanism and an MCU main control core. The five-degree-of-freedom hybrid mechanism comprises a three-degree-of-freedom motion series mechanism arranged on the robot base and a parallel mechanism arranged on the three-degree-of-freedom motion series mechanism. The three-degree-of-freedom motion series mechanism comprises an X-axis screw slide table, a Z-axis screw slide table and a Y-axis rotary table which are used for moving along the X-axis and Z-axis directions and rotating around the Y-axis, respectively. The parallel mechanism comprises two active translation joints and two passive joints arranged between the two active translation joints, and the passive joints are connected with a robot end effector. The hybrid configuration scheme of the series mechanism and the parallel mechanism is adopted, the advantages of the large stroke of the series mechanism and the compact structure, the strong bearing capacity and the high resolution of the parallel mechanism are utilized, the overall performance of the robot is improved, and the working flexibility, the operation accuracy and the load capacity of the micro-assembly robot are improved.

The invention discloses an attitude tracking control method for a spherical coaxial parallel mechanism, and relates to the technical field of robots. The method comprises the following steps: establishing an active-passive joint angle constraint equation of the parallel mechanism; performing physical simulation and fitting to obtain an approximation function of the passive joint angle relative to the active joint angle, taking the approximation function as an initial value, and performing numerical solution on the constraint equation to obtain an accurate passive joint angle; calculating the attitude of the movable platform through the joint angle and constructing a speed Jacobian matrix; and finally, designing a movable platform angular velocity control law according to the attitude error, obtaining an active joint control velocity through velocity Jacobian matrix mapping, and realizing tracking of an expected attitude.

The application provides a SAC-based dual-arm robot tight coordination carrying motion planning method, comprising the following steps: constructing a kinematics model of a dual-arm robot tight coordination system; dividing active joints and passive joints of the dual-arm robot; constructing a distance vector for describing a distance between an operation object position and a target position; constructing a singularity index for describing whether a mechanical arm configuration singularity occurs in the tight coordination system; constructing state variables and action variables of the dual-arm robot; constructing a motion planning reward function of the dual-arm robot; constructing a deep network structure of SAC; constructing a tight coordination carrying motion training strategy according to the state variables, the action variables, the motion planning reward function of the dual-arm robot and the deep network structure, and obtaining a trained dual-arm robot tight coordination carrying motion planning strategy network. According to the technical scheme provided in the embodiment of the application, the dual-arm robot tight coordination carrying can be realized under the condition that the initial position and the target position of the operation object are uncertain.

An underwater vehicle for performing subsea operations is disclosed. The underwater vehicle (100) comprises a hull (101) comprising a nose end (102) and a tail end (103); a propulsion mechanism (105) configured to propel the underwater vehicle (100); a passive joint module (104) connecting the propulsion mechanism (105) to the hull (101) at one of the tail end (103) or the nose end (102) of the hull (101); and a controller (110) in communication with the propulsion mechanism (105). The propulsion mechanism (105) comprises a pair of propulsion devices (150) configured to generate thrust to propel the underwater vehicle (100) through water, the thrust of each propulsion device (150) being independently controllable. The controller (110) is configured to control an angle at which the passive joint module (104) connects the propulsion mechanism (105) to the hull (101) through independent control of the thrust of each of the propulsion devices (150).

The utility model provides a modular passive joint assembly and a robot. The modular passive joint assembly comprises a skeleton simulation piece, a rotary connecting piece and an elastic assembly. The skeleton simulation piece is provided with an accommodating part for accommodating the rotary connecting piece; one side of the accommodating part is communicated with the outside, and the other side of the accommodating part is communicated with a hollow space in the accommodating part; the rotary connecting piece is arranged in the accommodating part, can rotate relative to the accommodating part, and is provided with a first connecting piece for external connection and a second connecting piece positioned in the hollow space; the elastic assembly is located in the hollow space, connected to the second connecting piece and the inner wall of the hollow space and used for resetting on the second connecting piece. When being subjected to external force, the rotating connecting piece can adapt to the external force to deform so as to prevent the external force from being transmitted to other joints to affect the overall stability of the robot, and due to the arrangement of the elastic assembly, after the external force disappears, the rotating connecting piece can reset under the action of the elastic assembly.

The invention relates to the technical field of clamps, in particular to an active and passive combined clamp suitable for a hollow concrete guardrail, which comprises a clamp base, a passive clamp and an active clamp, the active clamp comprises a movable hanger, a connecting plate and a linear driver; the passive clamp comprises a fixed arm, a movable arm and two sets of cross arms, the fixed arm is fixedly connected to the clamp base, the movable arm is parallel to the fixed arm, the two sets of cross arms are rotationally arranged at the two ends of the movable arm respectively, each set of cross arms comprises two clamping arms which are rotationally connected, and connecting rods are hinged to the upper ends of the two clamping arms respectively. The upper ends of the two connecting rods are hinged to the fixed arm. The design that the active clamp and the passive clamp are combined is adopted, once the guardrail slides down, the guardrail makes contact with the active clamp firstly, the guardrail is effectively prevented from further sliding down by means of the blocking and supporting effects of the active clamp, and reliable safety protection guarantee is provided for the whole operation process.

The invention discloses an endogenous jointed rock sample preparation device and method based on electric pulse directional fracturing, and relates to the technical field of jointed rock sample preparation, the preparation device comprises a jointed rock sample pouring mold, and the jointed rock sample pouring mold can be placed in a directional fracturing container; the top surface of the directional fracturing container is fixedly connected with a directional fracturing rotary clamp; in the preparation method, a passive joint preparation thought of external implantation is abandoned, directional fracture is induced in a rock sample through high-voltage electric pulses, the formation process of natural joint stress driving-internal initiation-dynamic expansion is simulated, homologous symbiosis of the joint and a rock sample body is achieved, the natural simulation degree of the joint is improved from the aspect of mechanism, and the simulation degree of the joint is improved from the aspect of mechanism. Quantitative control over the joint thickness and the joint inclination angle can be achieved by designing a linear pulse source and adjusting energy parameters and electrode positions.

The present application relates to a kind of three degrees of freedom dexterous hand finger compliance control method, comprising the following steps: establishing three degrees of freedom finger structure model;Passive joint constraint model and finger end kinematics model are constructed;In cartesian space, the compliance control model is constructed, and the end desired position offset is generated;Compliance control model is discretized;Lightweight kinematics inverse solution strategy is used, and only two active joints of third phalanx, second phalanx are solved, and the end desired position offset is mapped into the expected angle of active joint;According to the expected angle of active joint, motor control instruction is generated, third phalanx, second phalanx are driven to move, and first phalanx is driven to move by mechanical linkage, and end compliance interaction is realized;Contact force acquisition, compliance calculation, kinematics inverse solution and joint control step are cyclically executed, and real-time closed-loop control is completed.The method realizes the accurate mapping of end force, end position and active joint angle, and has good adaptability, real-time and compliance.

The invention belongs to the technical field of robot motion control, and particularly relates to a universal position control method for a multi-configuration double-passive-joint plane three-connecting-rod mechanical arm. The problem of tail end position control caused by incomplete constraint, state coupling and nonlinear characteristics of one type of underactuated systems of the double-passive-joint mechanical arm is solved, the three-configuration universality is achieved, and the fault-tolerant capability and control efficiency of the system can be remarkably improved; the method is especially suitable for trajectory planning and optimization control of high-under-actuated and strong-coupling mechanical systems in a zero-gravity or microgravity environment, such as spacecraft mechanical arms and deep sea operation robots.

The application provides a multi-link active and passive joint type pipeline detection robot, and relates to the technical field of robots.The robot comprises a first cabin body, a second cabin body, a third cabin body and a fourth cabin body which are sequentially hinged; a driving assembly which is arranged in the third cabin body and connected to an active joint; and a controller which is connected to the driving assembly and configured to acquire motion parameters of the active joint, calculate expected reference force of the active joint based on the motion parameters, determine joint driving force control values based on the expected reference force, and drive the active joint by using the driving assembly based on the joint driving force control values to change the angle between the second cabin body and the third cabin body, so that the pipeline detection robot is attached to the inner wall of a pipeline to be detected, thereby solving the problems of insufficient traction of the pipeline detection robot, difficulty in moving in the pipeline, and difficulty in adapting to different pipeline diameters and corresponding pipelines with vertical T-shaped branch structures.

Embodiments of the present application disclose a kind of detection method, device, electronic equipment and storage medium of passive joint brake.The method comprises: when the brake to be detected is in the brake state to be detected, determine the passive joint to be detected corresponding to the brake to be detected, and the adjacent active joint connected with the passive joint to be detected, control adjacent active joint to move;Determine the working current value of the brake to be detected, and the corresponding movement change value of the passive joint to be detected when adjacent active joint moves;The working state of the brake to be detected in the brake state to be detected is detected based on working current value and movement change value, and first detection result is obtained.The technical scheme of the embodiment of the present application can improve detection efficiency and accuracy, and ensure the safety in detection process.

The present invention discloses a method for estimating the foot-ground contact force and classifying terrain of an ostrich-like robot. The method comprises: constructing a foot-ground contact force mapping matrix of the ostrich-like robot, performing force-position hybrid control, obtaining the foot-ground contact force based on the matrix and the input torque of the leaf spring on the passive joint, and obtaining terrain classification information after determining the ground contact state; establishing a terrain classification fusion model based on a weighted voting mechanism, and training the model based on the terrain classification information; and performing terrain classification based on the terrain classification information and the trained model. The present invention utilizes the robot's joint angle information to estimate the foot-ground contact force without the need for additional sensors, achieving real-time and accurate foot-ground contact force estimation and contact state acquisition, effectively solving the problem of performance degradation or failure of the ostrich-like robot system caused by the fragility of the force sensor, simplifying the system configuration, and being able to complete the foot-ground contact force estimation and accurate terrain classification of the ostrich-like robot without relying on external sensors.

The invention provides a hybrid robot dynamic modeling and friction parameter identification method. The hybrid robot dynamic modeling and friction parameter identification method comprises the following steps that a Newton-Euler method and a spiral theory are used for establishing a dynamic model considering active and passive joint friction for a hybrid robot; carrying out global sensitivity analysis on friction parameters of the hybrid robot by adopting a summation function variance and covariance decomposition method; an identification and verification circular trajectory of the hybrid robot is planned according to a quintic polynomial; the driving torque of a servo motor in the moving process of the robot is collected; and carrying out friction parameter identification on the hybrid robot by using a Gaussian quantum particle swarm algorithm. The method has the beneficial effects that the established model can accurately predict the driving torques under different configurations, and a reliable dynamic basis is provided for trajectory planning and real-time control of the robot.

The invention relates to the technical field of robot calibration, and aims to provide a parallel processing robot kinematics calibration method considering passive joint errors so as to improve the absolute positioning precision of an end effector of a parallel robot and further improve the application efficiency of the parallel robot in the manufacturing industry. According to the technical scheme, the method comprises the following steps: step 1, constructing a sphere representing the motion space of each branch end point under a conformal geometric algebra framework; 2, a kinematical equation of the parallel machining robot is obtained through operation, and then perturbation is conducted to obtain an initial robot error model; 3, obtaining a complete robot error model containing passive joint errors; 4, the actual pose of the robot is obtained, and actual pose data are input into the complete robot error model; and step 5, taking the deviation between the actual pose and the nominal pose of the robot as an optimization target, identifying error parameters in the complete robot error model by adopting a regularization Levenberg-Marquardt algorithm, and finally compensating kinematics parameters.

The invention provides a motion control method, device and equipment of a surgical robot and a medium. The invention relates to the field of robot control. A motion control method of a surgical robot comprises the steps that the surgical robot comprises a plurality of active joints and follow-up joints; the control method comprises the following steps: in response to a motion control instruction, determining respective expected angular velocities of a plurality of active joints of the surgical robot; according to the current active joint angles of the multiple active joints, the expected rotation angle of the follow-up joint is determined on the basis of relative position constraints of the follow-up joint and the multiple active joints; compensating an initial driving instruction generated based on the plurality of expected angular velocities and the expected rotation angles by using the current active joint angles and the current angular velocities of the plurality of active joints to obtain a target driving instruction; and controlling the surgical robot to move by using the target driving instruction.