7 results about "Point trajectory" patented technology

This invention relates to the fields of vibration control and nonlinear mechanics, and provides a programmable method for generating two-dimensional nonlinear forces. The method includes: responding to a two-dimensional nonlinear force generation request; acquiring the structure and structural parameters of a mechanical realization device; determining the trajectory of the center point of a rolling component during motion based on mechanical equilibrium relationships, and acquiring the geometric expression of the rolling component's trajectory surface; and, based on the geometric dimensions of the rolling component, performing equidistant mapping along the normal direction on the rolling component's trajectory surface, causing the rolling component to adhere to and roll along a three-dimensional guide surface, thereby generating a nonlinear force corresponding to a target nonlinear force function. This method not only generates nonlinear forces of arbitrary continuous form based on a preset target force function and supports personalized customization of nonlinear stiffness characteristics, but also generates nonlinear forces that meet target requirements in two mutually orthogonal motion directions.

The application discloses a star map blind restoration method when star points are in elliptic arc trajectories under compound motion with three-axis angular velocities all being non-zero, which comprises the following steps: S1, elliptic fitting is performed on the elliptic arc trajectories of the star points; S2, elliptic arc trajectory and circular arc trajectory transformation based on projection transformation is performed; S3, circular arc trajectory and straight line segment trajectory transformation based on polar coordinate transformation is performed; S4, straight line segment trajectory restoration based on motion blurred image blind restoration is performed; S5, coordinate inverse transformation and projection inverse transformation are performed to obtain the final restoration result of the star map with the original trajectory being the elliptic arc trajectory. The application realizes the star map blind restoration of the elliptic arc trajectory by transforming the elliptic arc trajectory into the circular arc trajectory through the projection transformation, transforming the circular arc trajectory into the straight line segment trajectory through the polar coordinate transformation, and then realizing the star map restoration of the elliptic arc trajectory through the straight line segment restoration and the coordinate inverse transformation.

The invention discloses a guidance method for realizing multiple constraints of a falling point trajectory inclination angle and a pitching angle. The guidance method comprises the following steps: designing an overload controller instruction parameter; when the distance between the aircraft and the target is smaller than a first threshold value, an inclination angle tracking stage is started, a first attack angle instruction is calculated according to the deviation between the current trajectory inclination angle and the target trajectory inclination angle and an instruction correction value obtained according to aircraft state design, a first overload instruction of an overload controller is calculated, and inclination angle control is achieved; and when the distance between the aircraft and the target is smaller than a second threshold value, entering an attack angle tracking stage, calculating a second attack angle instruction according to the target attack angle instruction and the instruction correction item when the parameter error is considered, calculating a second overload instruction of the overload controller, and realizing pitch angle control. Ballistic inclination angle and pitch angle constraints are converted into attack angle constraints, overload instructions of overload controllers in the inclination angle tracking stage and the attack angle tracking stage are calculated respectively, and guided flight of two drop point constraints of the ballistic inclination angle and the pitch angle is achieved.

The invention discloses a fixed base mechanical arm point-to-point trajectory optimization method based on a near-end strategy optimization algorithm, solves the problem that a high-dimensional continuous action space exists when deep reinforcement learning is directly used for a fixed base mechanical arm tail end position to reach a task, and belongs to the field of robot operation control and mechanical arm autonomous motion optimization. The method comprises the steps that a mechanical arm kinematics model is established, and constraint conditions are defined; modeling a tail end point-to-point arrival task as a sequential decision process, constructing a state vector as the input of a strategy network, and taking a tail end displacement increment direction vector as the action output of the strategy network; mapping the tail end displacement increment direction vector into a joint increment through differential inverse kinematics, and performing constraint processing according to a constraint condition to generate an executable joint control instruction; and training the strategy network by adopting a near-end strategy optimization algorithm, obtaining a single-step reward through a multi-target reward function, and evaluating the performance output by the action of the strategy network according to the single-step reward until convergence.

This invention discloses a method for online footing point generation and adjustment of a bipedal robot that combines active and passive methods. The method includes: determining the planned zero-moment point trajectory and the planned center-of-mass trajectory; designing a virtual inverted pendulum center-of-mass tracking controller; controlling the desired zero-moment point trajectory to ensure the robot's desired center-of-mass trajectory tracks the actual zero-moment point position and calculates external forces, applying them to the virtual inverted pendulum for state updates; optimizing the desired footing point position based on the estimated center-of-mass trajectory for the next two steps and the planned footing point position through online ankle trajectory tracking control, ensuring the robot's desired ankle position follows the calculated desired joint angle, which is then applied to the bipedal robot. This invention achieves a larger and more flexible footing point adjustment effect while ensuring real-time computation, resulting in better disturbance suppression and balance restoration.

The application discloses a biped robot landing point planning method based on a NURBS curve, a computer readable storage medium and a foot device. The method comprises the following steps: acquiring a starting foot point, a landing foot point and a leg swing height of a biped robot as control points of a NURBS curve; generating an initial landing foot point trajectory curve based on the control points, and calculating a first derivative of the initial landing foot point trajectory curve to obtain a speed of an actual landing foot point; comparing the speed of the actual landing foot point with an expected landing foot point speed, and obtaining a control landing foot point trajectory curve when an error absolute value of the speed of the actual landing foot point and the expected landing foot point speed is less than or equal to a preset value; and controlling a swing of a swing leg of the biped robot according to the control landing foot point trajectory curve. The speed of the landing foot point relative to the ground is matched with the speed of the robot relative to the ground, the swing state and the support state of the foot-type robot motion are combined, the motion state switching is smoother, and the walking speed of the robot is improved.