5 results about "Passive joint" patented technology

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.

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.

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 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 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.