57 results about "Rigid body model" patented technology

The invention provides a cuttable interactive software simulation method and system based on a GPU accelerated substance point method, and belongs to the field of computer graphics physical simulation, and the method comprises the steps: S1, carrying out the sampling and initialization of a to-be-simulated three-dimensional software model and a rigid body model interacting with the to-be-simulated three-dimensional software model; s2, based on a virtual scene to be simulated, constructing an initial GPU secondary sparse acceleration structure Ggrid; s3, carrying out expansion on the Ggrid; s4, updating the state of the rigid body model, and constructing a rigid body cutting field of Ggrid; s5, on the basis of the Ggrid and the rigid body cutting field, the physical explicit integral of the three-dimensional software model to be simulated is solved in parallel, and the position of the lagrangian particle at the next moment is obtained; and S6, during the last iteration of each frame, reconstructing a surface triangular mesh of the Lagrange particle cluster in real time based on Ggrid, and smoothing the surface triangular mesh. According to the method disclosed by the invention, multi-material soft deformation, cutting interaction, crushing and real-time surface reconstruction are realized.

The invention relates to an impact stress simulation method, device and equipment for a wheel assembly, and relates to the technical field of electric digital data processing.The method comprises the steps that a punch rigid body model and a wheel assembly simulation model are constructed, impact force is applied to the wheel assembly simulation model through the punch rigid body model on the basis of motion constraint conditions of the punch rigid body model, and the wheel assembly simulation model is obtained. Performing impact stress simulation on the wheel assembly simulation model to obtain an explicit analysis result of the wheel assembly simulation model; the motion constraint condition of the punch rigid body model is used for constraining the punch rigid body model to only move along the radial direction of the tire; the explicit analysis result is used for representing physical response characteristics of the wheel assembly simulation model in the impact stress simulation process; and implicit analysis is conducted on the explicit analysis result, and the plastic deformation of the inner rim of the wheel is obtained. Therefore, accurate prediction of the rim deformation under the impact working condition can be realized.

The invention discloses a construction ship operation parameter optimization method and system based on the wind wave coupling effect, and belongs to the technical field of construction ships. The multi-body dynamic model comprises a rigid body model constructed based on parameters of a ship body and a hanging object, an elastomer model constructed based on parameters of a hanging rope and a nonlinear spring model constructed based on parameters of a mooring system; the multi-body kinetic equation comprises a translation analysis module and a rotation analysis module based on a rigid body model; the tension analysis module is based on an elastomer model; the nonlinear deformation analysis module is based on a nonlinear spring model; the environment load calculation module is used for firstly calculating the acting force of the environment load on the workboat, and then taking the calculation result as the input of the multi-body dynamic model; the motion response solving module solves the motion response of the multi-body dynamic model through a numerical integration method; the mooring force calculation module calculates tension distribution of each cable based on the motion response and nonlinear characteristics of the mooring system.

The invention relates to the field of intelligent equipment control and industrial automation, in particular to an intelligent equipment butt-assembling cooperative control system with multi-axis linkage compensation. The data acquisition module is used for acquiring current, force / torque, temperature, position and speed data under a unified time reference; the benchmark reconstruction module is used for generating an ideal position benchmark and an ideal force / torque benchmark on the basis of an ideal rigid body model under a preset reference coordinate system; the parameter injection module is used for injecting thermoelastic deformation, rigidity attenuation and hysteresis friction parameters to generate a theoretical simulation state; constructing a double-track difference module of a real residual error and a theoretical residual error; the coupling judgment module is used for carrying out time sequence similarity verification and generating a state judgment result; the feedback control module is used for outputting a multi-axis linkage compensation instruction or a compliant return instruction; according to the invention, inherent drift and real assembly interference of equipment can be distinguished, and stable compensation and safe concession control are realized.

This invention discloses a method and apparatus for evaluating the mechanical properties of high-voltage wiring harnesses. The method includes: constructing a rigid-flexible coupling model of the entire vehicle, comprising a rigid body model of the vehicle and a flexible cable model of the high-voltage wiring harness within the vehicle; performing a driving simulation on the rigid-flexible coupling model of the entire vehicle under target operating conditions to obtain a first motion simulation result of the high-voltage wiring harness, and then determining a first mechanical property evaluation result based on this result; performing a stress simulation on the flexible cable model based on the first motion simulation result to obtain a second motion simulation result for each fixed clip node; and performing a mechanical property simulation on each fixed clip node based on the second motion simulation result to obtain the corresponding second mechanical property evaluation result. This invention solves the technical problem that related technologies, which use a decentralized and static approach, cannot accurately evaluate the mechanical properties of high-voltage wiring harnesses, thus hindering the accurate analysis of failure modes of high-voltage wiring harnesses during long-term service.

The application provides a cuttable interactive soft body simulation method and system based on a GPU accelerated material point method, and belongs to the field of computer graphics physics simulation, and comprises the following steps: S1: sampling and initializing a three-dimensional soft body model to be simulated and a rigid body model interacting with the three-dimensional soft body model; S2: constructing an initial GPU secondary sparse acceleration structure Ggrid based on a virtual scene to be simulated; S3: extending the Ggrid; S4: updating the state of the rigid body model and constructing a rigid body cutting field of the Ggrid; S5: solving a physical explicit integration of the three-dimensional soft body model to be simulated in parallel based on the Ggrid and the rigid body cutting field, and obtaining the position of a Lagrange particle at the next time; and S6: at the last iteration of each frame, reconstructing a surface triangular mesh mesh of the Lagrange particle cluster in real time based on the Ggrid, and smoothing the surface triangular mesh mesh. The method realizes multi-material soft body deformation, cutting interaction, fragmentation and real-time surface reconstruction.

This invention discloses a control method, device, and medium for a quadruped robot integrated robotic arm system, belonging to the field of quadruped robot integrated robotic arm system control. The method includes: Step 1, using a trajectory optimization algorithm based on a single rigid body model, obtaining the quadruped robot's motion prior through a manually defined movement trajectory, and inputting the adversarial motion prior into a reinforcement learning network for training; Step 2, generating feasible trajectories for the robotic arm using a trajectory planner based on model predicted path integrals, and executing trajectory commands through a vector field-based trajectory follower; Step 3, combining the system's ontology perception, historical observations, and target point information and inputting them into a target-conditional reinforcement learning network to obtain the movement trajectory and control the system's movement. This method has stronger motion capabilities and safety, enabling the system to complete movement tasks in various unstructured environments, and has low computational complexity.

The invention discloses a control method and device for an integrated mechanical arm system of a quadruped robot and a medium, and belongs to the field of control over the integrated mechanical arm system of the quadruped robot. The method comprises the following steps: step 1, using a trajectory optimization algorithm based on a single rigid body model to obtain a quadruped robot movement operation motion priori of a system through an artificially defined movement operation trajectory, and inputting the quadruped robot movement operation motion priori into a reinforcement learning network for training through adversarial motion priori; 2, generating a mechanical arm feasible track of the system by using a track planner based on model prediction path integration, and executing a track command through a track follower based on a vector field; and step 3, combining ontology perception and historical observation of the system with the information of the target point, inputting the combined information into the target condition reinforcement learning network, obtaining a moving operation track, and controlling the moving operation of the system. The method has higher movement ability and safety, enables the system to complete movement operation tasks in various unstructured environments, and is low in calculation complexity.

The invention relates to the field of intelligent physical training and man-machine interaction, and discloses an interactive martial art immersive teaching system, which obtains macroscopic body movement and microscopic skin vibration signals of a user through a multi-mode acquisition module, and extracts real-time breathing phases in a non-contact manner by using an Euler video enhancement technology and Hilbert transform. On the basis, the system establishes a dynamic coupling mechanism of the breathing phase and the impedance characteristic of the virtual rigid body model, and the dynamic physiological stiffness is used as a physical constraint condition to execute inverse dynamic solution, so that the effective internal stiffness modulated by breathing is quantified. And finally, the immersive feedback module generates a dynamic fluid special effect and tactile feedback according to the gas-force coherence index, and adaptively controls teaching stepping. The technical pain points that in traditional martial art teaching, 'internal strength 'cannot be quantified, and breathing and actions are difficult to cooperate are effectively solved, and digital immersive guiding with shape and gas integration is achieved.

This invention belongs to the field of dynamic modeling of vacuum manipulators, specifically a rigid-flexible coupling modeling and analysis method for vacuum manipulators. The method includes: using a rigid body model to describe the arm and a string model from the continuum domain to describe the steel strip. The rigid body is a finite-degree-of-freedom system, while the continuum is an infinite-degree-of-freedom system. A global space discretization method is used to discretize the infinite-degree-of-freedom system into a finite-degree-of-freedom system. Then, the two finite-degree-of-freedom systems are systematically integrated to obtain the rigid-flexible coupling dynamic equations of the vacuum manipulator. This invention establishes a system dynamic model based on the energy method, with a clear approach, and provides a good solution for dynamic modeling of rigid-flexible coupling systems. It solves the problem that vacuum manipulators lack end-point real-time sensing and cannot perceive the system state in real time to provide state feedback for control.

The present disclosure discloses a method, electronic device, and storage medium for simulating coil placement in an aneurysm. The method includes: obtaining a coil model, a three-dimensional rigid body model, and an aneurysm model, wherein the coil model is a non-rigid body model; compressing the coil model using the three-dimensional rigid body model; placing the compressed coil model into the aneurysm model so that the coil model deforms under its own internal force; and obtaining a final simulation result in response to the deformation parameters of the coil model meeting a preset condition. Through the solution of the embodiment of the present disclosure, it is possible to impose constraints on the non-rigid coil model through the three-dimensional rigid body model, and use the internal force of the coil model itself to achieve expansion deformation in the aneurysm model, thereby directly simulating the coil compression and placement process quickly through physical methods, which can improve the simulation speed and have higher clinical value for emergency clinical scenarios.

The invention relates to a heterogeneous agent cluster unified cooperative control message bus system which comprises a control terminal module, a communication transmission module, a message bus abstraction layer, a cooperative control engine and a state feedback mechanism. According to the system, unified control of heterogeneous platforms such as the unmanned aerial vehicle and the ground robot is realized through a standardized protocol, two communication modes of direct connection and relay are supported, and low-delay cooperative control is realized. The system adopts a virtual rigid body model to keep relative position constraint between agents, and natural language instruction analysis and anti-collision verification are realized through a large language model. The system has the advantages of low delay, high synchronization, cross-platform and intellectualization, and is suitable for scenes such as formation performance, cooperative hoisting and air-ground cooperation.

The application provides a component stackability review method and device, electronic equipment and storage medium, belonging to the technical field of intelligent manufacturing, comprising: obtaining an initial three-dimensional model of a target component, setting a quality distribution and an initial motion state of the initial three-dimensional model, and obtaining a rigid body model; performing grid division on the rigid body model to generate grid OBJ data; simulating gravity simulation results of a preset number of target components in a stacked state by using the grid OBJ data; and determining an inclination state of the target components in the stacked state according to the gravity simulation results. The application can effectively solve the limitations of the prior art in complex scenarios, comprehensively evaluate the stability of the components in the stacked state through accurate physical modeling and gravity simulation, and provide a scientific basis for product design optimization by discovering design defects in advance, which not only improves the accuracy and efficiency of the review, but also significantly improves the stability and reliability of the product, reduces the production cost and potential safety risks.

The present invention discloses a control method, device and medium for realizing independent walking of a quadruped robot, and relates to the field of robot control methods. The method comprises: 1) establishing a coordinate system of the quadruped robot to describe the position, translation speed and rotation speed of the quadruped robot in three-dimensional space; 2) designing a speed state estimator, filtering the speed value obtained by a sensor through a sliding window filter, and improving the calculation accuracy by using a Kahan algorithm; 3) designing a gait generator to obtain the diagonal trotting gait of the quadruped robot at a certain moment; 4) using Raibert's three-channel decoupling algorithm to calculate the neutral point position, and using the neutral point as the symmetry point to obtain the landing point position; 5) using a quadratic parabola interpolation method to plan the swing phase trajectory; 6) performing force analysis on the rigid body model of the quadruped robot, and constructing a discrete state equation and a prediction equation for the rigid body; 7) constructing a standard quadratic programming equation to obtain the optimal solution of the joint torque and control the robot.

The invention discloses a method and a device for calculating the fatigue life of a floating type fan blade, which are used for solving the technical problem that the accuracy of the calculated fatigue life of the blade is low due to the existing method for calculating the fatigue life of the floating type fan blade. The method comprises the steps of constructing a blade CAD model, a rigid body model and a fluid domain numerical model, and generating a fatigue load spectrum by simulating six-degree-of-freedom motion under different sea conditions and wind conditions. And then establishing a blade high-fidelity finite element model, determining fatigue crack stress distribution in combination with the obtained sea condition and wind condition occurrence probability and fracture criterion of the research sea area, and dynamically inserting into a cohesion unit to simulate intra-layer and inter-layer damage. And finally, based on the cohesion model, calculating the fatigue life of the blade through a cyclic jump method. According to the method, various sea conditions and wind conditions can be combined, fatigue cracks are taken into consideration in the calculation process, crack propagation can be simulated, and the calculation accuracy of the fatigue life of the blade can be improved while high-precision fatigue life calculation is achieved.

The present invention discloses a method, apparatus, and storage medium for a human face rigid body model and gaze point detection. The method for generating the human face rigid body model includes: acquiring a first visible light human face image of the current user captured by an image sensor facing forward, and obtaining a preset number of feature points of the current user's human face from the first visible light human face image; determining the three-dimensional coordinates of the left eye center, the three-dimensional coordinates of the right eye center, and the three-dimensional coordinates of the human face center of the current user based on the preset number of feature points; respectively establishing a left eye vector and a right eye vector from the three-dimensional coordinates of the left eye center and the three-dimensional coordinates of the right eye center to the three-dimensional coordinates of the human face center, and mapping them into the three-dimensional human face model to obtain the human face rigid body model of the current user.

The invention discloses a method for calculating the fatigue life of a working device with an offset side load working condition, and belongs to the technical field of engineering machinery detection, and the method comprises the steps: importing actual operation mining data into a damping calibration multi-rigid body model, and carrying out the calculation to obtain bucket tooth space displacement data; the bucket tooth space displacement data, the oil cylinder driving force and the rotation driving torque are imported into the damping calibration multi-rigid-body model, and the bearing reaction is obtained through calculation; iterating a load spectrum of an action point in the bucket, and simultaneously applying the load spectrum and an oil cylinder displacement rotation speed to the damping calibration multi-rigid-body model to obtain a hinge point force between a movable arm and a bucket rod; and multiplying the stress component result of the key welding seam by the hinge point force to obtain a stress component matrix, obtaining a time-domain stress curve of the key welding seam, and carrying out fatigue damage calculation. According to the method, firstly, the influence of lateral load on the structure can be considered, the load iteration speed is high, solving is accurate, and the fatigue life calculation efficiency is high;

This invention provides a method and related equipment for multi-component coupled simulation of rail vehicles. The method includes acquiring structural parameters of rail vehicle components, constructing multiple rigid body models of vehicle components, and constructing a complete rigid body model of the rail vehicle based on the connection relationships between the components. For either the wheelset or the gearbox, a corresponding first flexible body model is constructed, and this first flexible body model replaces the corresponding rigid body model of the vehicle component in the complete rigid body model, resulting in a multi-component flexible body model. A second flexible body model corresponding to the track is constructed, and a multi-flexible body vehicle dynamics model is constructed based on the second flexible body model and the multi-component flexible body model. For any one of the gearbox, wheelset, and track, a corresponding fault model is constructed. The multi-flexible body vehicle dynamics model and the fault model are input into simulation software to perform multi-component coupled simulation of the rail vehicle. This invention can improve the simulation accuracy of rail vehicles.

The invention provides a component stackable review method and device, electronic equipment and a storage medium, and belongs to the technical field of intelligent manufacturing, and the method comprises the steps: obtaining an initial three-dimensional model of a target component, setting the mass distribution and initial motion state of the initial three-dimensional model, and obtaining a rigid body model; performing grid division on the rigid body model to generate grid OBJ data; simulating a gravity simulation result of a preset number of target parts in a stacked state by using the grid OBJ data; and according to a gravity simulation result, determining an inclined state of the target component in the stacked state. According to the method, the limitation of the prior art in a complex scene can be effectively solved, through accurate physical modeling and gravity simulation, the stability of the parts in the stacking state is comprehensively evaluated, design defects are found in advance, and a scientific basis is provided for product design optimization, so that the accuracy and efficiency of review are improved, and the review efficiency is improved. And the stability and the reliability of the product are obviously improved, and the production cost and the potential safety risk are reduced.

The invention relates to the technical field of rail transit, in particular to an external action threshold rapid analysis method based on traffic safety, which comprises the following steps: S1, stripping test data; s2, quantifying the response margin; s3, response simplified calculation; and S4, determining an action threshold value. According to the method, on the basis of actual operation data, a train response reference value caused by track irregularity is obtained, the train response allowable margin caused by external action is quantified, the influence of two excitation sources of track irregularity (inherent excitation) and external action (environmental excitation) on train response is effectively decoupled, and the train response accuracy is improved. The interference of inherent factors on external action threshold evaluation is eliminated, and the accuracy and pertinence of an external action threshold determination result are remarkably improved; the calculation complexity is greatly reduced by the simplified rigid body model, and the engineering application efficiency is greatly improved; based on statistical analysis of a large amount of measured data, the result has statistical significance, contingency of single simulation is avoided, and the result reliability is high.

This invention relates to the field of ceramic printing technology, and discloses a real-time compensation printing method and system for irregular ceramic deformation based on mesh mapping. The method includes acquiring a morphological image of the ceramic tile to be printed and extracting a set of feature points describing the tile's geometric contour; calculating a nonlinear mapping field between a standard pattern coordinate system and the actual physical shape of the tile based on the feature point set; performing texture sampling rendering on the original printed pattern based on the nonlinear mapping field to generate a deformed printed image that matches the actual shape of the tile; and converting the deformed printed image into printing instructions and sending them to the printing unit for execution. The degree of freedom of this invention is positively correlated with the number of feature points, reaching tens to hundreds, thereby extending the ceramic tile from a rigid body model to a locally deformable elastic body model, enabling accurate reproduction of arbitrary shape curve boundaries and local non-uniform deformation. This effectively eliminates defects such as pattern line misalignment and poor jointing, achieving precise printing of patterns and deformed ceramic tiles.

The application discloses a kind of terrain-restricted quadruped robot control method, comprising the following steps: establishing quadruped robot single rigid body model;The treadable area is simplified into several polygons by three-dimensional space line determination;Using nonlinear model prediction control method, and adding terrain constraint, obtain a time period within the position, velocity, acceleration of quadruped robot joint space The optimal control amount of expected value is the first layer control architecture;Establish the whole body control model of quadruped robot, introduce terrain constraint, obtain the position, velocity, acceleration of quadruped robot joint space The optimal control amount of expected value is the second layer control architecture;The first and second layer control architecture is combined, and the joint torque of quadruped robot is obtained, which meets the terrain constraint.The application adopts the form of nonlinear model prediction control, can add terrain constraint from planning level, so that the landing point of quadruped robot meets the dynamics constraint, and can adapt to the complex terrain with higher landing point position requirement.

The present application belongs to the field of aviation technology, and is a kind of drop simulation method considering the influence of inertia characteristics of aircraft auxiliary fuel tank rotation. By obtaining the attitude angle parameters and fuel volume ratio when the aircraft drops the auxiliary fuel tank, including pitch angle, roll angle and yaw angle, a dynamic change model of the rotational inertia of the auxiliary fuel tank is constructed. Secondly, by numerical method, the six-degree-of-freedom equation of the auxiliary fuel tank in flight is solved, and the flight trajectory and attitude change of the auxiliary fuel tank are calculated, which solves the defect that the traditional rigid body model ignores the influence of inertia characteristics when the auxiliary fuel tank rotates, and significantly improves the reliability of auxiliary fuel tank drop trajectory prediction.

The invention discloses a multi-agent low-delay cooperative communication method and system, and the method comprises the steps: transmitting a task-level control instruction frame to a heterogeneous agent through a single control source device in a one-to-many radio frequency broadcast mode, and achieving the effect that the instruction synchronization delay is smaller than 500 microseconds; each agent keeps relative position constraint based on a virtual rigid body model, a dynamic relay module is started when it is detected that the quality of a communication link is lower than a threshold value, an adjacent agent forwards an instruction in a point-to-point mode, and the forwarding delay is smaller than 2 milliseconds; a pre-training language model is built in the system to analyze natural language input, and a task-level instruction sequence verified through geometric collision detection is generated. According to the invention, a unified message bus interface is adopted to standardize different platform control data, microsecond-level cooperative control of heterogeneous intelligent agents such as unmanned aerial vehicles, robots and model airplanes is supported, and the system is suitable for scenes such as light show and air-ground cooperation.

The invention relates to the technical field of industrial logistics intellectualization, in particular to a vehicle carrying split type AGV control method which comprises the steps that S1, a whole vehicle rigid body model is constructed; s2, executing S3 for path tracking of an expected straight driving track; executing S4 aiming at path tracking of the expected arc driving track; s3, correcting a transverse error between the whole vehicle rigid body model and a planned path through normal deviation correction and PID (Proportion Integration Differentiation) adjustment in the path direction to obtain a linear angular velocity; then executing S5; s4, integrating the ideal angular velocity, the course correction amount and the radial correction amount to obtain an arc angular velocity; then executing S5; s5, the master vehicle sends a whole vehicle motion instruction to the slave vehicle through a network communication protocol, and the master vehicle and the slave vehicle carry out whole vehicle motion instruction calculation based on the whole vehicle rigid body model; during communication, the master vehicle and the slave vehicle confirm the survival state of each other by periodically receiving and sending heartbeat packets. According to the method, tracking real-time performance and tracking precision can be considered, and communication robustness can be ensured.

The invention discloses a method, device and equipment for determining the suspension vibration isolation rate of a commercial vehicle and a medium. The method comprises the steps of determining power assembly suspension information corresponding to a target commercial vehicle based on a target vehicle simulation model corresponding to the target commercial vehicle; engine testing is carried out on the target commercial vehicle based on the target test bench and the target engine rigid body model, and engine load data corresponding to the target commercial vehicle are determined; and performing vibration simulation on the power assembly suspension information and the engine load data based on the target whole vehicle simulation model to generate a vibration acceleration simulation result, and determining a target suspension vibration isolation rate corresponding to the target commercial vehicle based on the vibration acceleration simulation result. According to the technical scheme, the power assembly suspension vibration isolation rate of the commercial vehicle can be quickly simulated, and the design optimization efficiency of the commercial vehicle is improved.

This application relates to the field of servo control technology, and in particular to a method, apparatus, and device for extending the bandwidth of a servo system. The method includes: acquiring speed data, current data, and panel gain data of the servo system; identifying speed loop parameters of the servo system based on the speed data, current data, and panel gain data; identifying low-frequency rigid body model parameters based on the speed data; identifying high-frequency flexible model parameters based on the speed data; constructing a speed loop controlled object model based on the low-frequency rigid body model parameters and the high-frequency flexible model parameters; and extending the bandwidth of the servo system based on the speed loop controlled object model and the speed loop parameters. This solves the problems of limited bandwidth extension and low control accuracy in related technologies for servo closed-loop systems.

The invention discloses a molecular dynamics simulation method for the impact resistance behavior of a metal-carbon honeycomb structure, and relates to the technical field of physical simulation, and the method comprises the steps: constructing a composite structure atom model and an impact projectile rigid body model; performing energy minimization and structural relaxation on the composite structure to obtain a stable initial configuration; the configuration is divided into a fixed constraint area, a temperature buffer area and a free response area along the in-plane direction of a structural plane, and fixed constraint, constant temperature control and micro-regularization system simulation are respectively applied; the composite structure is impacted by a rigid projectile at a preset speed, molecular dynamics impact simulation is carried out under a periodic boundary condition, and atomic motion data are output; by means of the data, structural deformation and damage morphology in the impact process are displayed through visual software, and by extracting a physical information curve, damage evolution and energy dissipation behaviors of a material are quantitatively analyzed, and the atomic scale impact resistance mechanism is revealed. The micro-mechanical behavior simulation of the metal-carbon honeycomb composite structure is realized.

The invention discloses a gluing robot gluing control method and system based on motion capture, and the method comprises the steps: building a gluing gun rigid body model based on the structure parameters of a gluing gun, collecting the track data of a to-be-glued part through a motion capture system, building a dynamic motion primitive model based on the obtained glue gun track data, and carrying out the manual gluing of the to-be-glued part, when the gluing robot is adopted for gluing, parameter setting is carried out on the gluing track, wherein the parameter setting comprises the position, the posture and the gluing speed of a starting point and the position, the posture and the gluing speed of a terminal point; on the basis of the set parameters, a position coordinate data sequence, a posture data sequence and a speed data sequence from the starting point position to the final point position are generated through the built dynamic motion primitive model, and a gluing motion trail is generated. And the labor intensity of workers is reduced, the operation precision and stability are improved, and remarkable advantages can be better shown in a complex space.