454 results about "Robot end effector" patented technology

The invention discloses an unhooking robot control method and system based on depth visual recognition, and relates to the field of visual recognition, and the method comprises the steps: obtaining an original optical signal and ambient light intensity, carrying out the dynamic focusing of the original optical signal, generating a target pose sequence according to a frequency domain fusion algorithm and a gradient maximization positioning algorithm, and carrying out the dynamic focusing of the original optical signal; meanwhile, the environment light intensity is substituted into adjacent frame pose difference, and a real-time speed vector is obtained; performing modeling on the target pose sequence and the real-time velocity vector by adopting neuromorphic space-time motion to obtain a predicted trajectory of a dynamic coupling target body and a space-time constraint domain of an end effector of the robot; a bionics principle is adopted to simulate a biological motion coordination mechanism, a target motion track and mechanical arm dynamic constraint are jointly described, and the limitation that track prediction and mechanical arm motion ability are disjointed in traditional isolated modeling is broken through.

The invention discloses a robot control method and system for an industrial pipeline, and relates to the technical field of robot control. The method comprises the steps that a flange plate is installed on an end effector of the robot, a binocular vision camera is installed in the center of the front end of the flange plate, and four point laser displacement sensors are symmetrically arranged on the flange plate at different heights; the binocular vision camera collects a pipeline image; the upper computer determines an initial pose control result of the robot according to the pipeline image so as to control the robot to move preliminarily; the four point laser displacement sensors are used for collecting spatial displacement data of the pipeline at different height points after the robot moves preliminarily; and the upper computer determines a target pose control result of the end effector of the robot through the spatial displacement data so as to control the end effector of the robot to carry out pose adjustment. According to the method, accurate control over the axial parallelism of the robot end effector and the pipeline can be achieved, and therefore the pipeline assembling accuracy is improved.

The invention relates to the technical field of force feedback handles, in particular to a remote surgical robot control system based on a force feedback handle and a control method thereof. The method comprises the following steps: carrying out multi-dimensional force data acquisition on an end effector of the surgical robot, and carrying out contact force size, direction and time sequence feature extraction to obtain multi-dimensional force feature data; performing surgical operation safety baseline analysis according to the multi-dimensional force feature data to generate surgical operation safety baseline data; performing dynamic force feedback threshold calculation according to the surgical safety operation baseline data to obtain force feedback threshold range data; and performing adaptive compression processing on different force feedback signals according to the force feedback threshold range data to obtain dynamic force feedback control parameters. Through real-time control instruction optimization and a closed-loop feedback strategy, the system can quickly respond to an operation intention, early warning is carried out on potential risks, and it is ensured that the operation process is safer and more reliable.

The invention relates to the technical field of pose control, in particular to a robot flexible grabbing method and system based on a touch sensor, and the method comprises the steps: carrying out the image collection of an environment where a to-be-operated object is located based on a camera integrated in a robot, so as to obtain an image of the environment where the to-be-operated object is located; and acquiring a real-time pose of an end effector of the robot based on inertial measurement equipment integrated in the robot, and performing pose estimation on a to-be-operated object in the environment image based on a pre-trained pose estimation model to obtain the pose of the to-be-operated object. By combining the environment image acquired by the camera and the real-time pose information provided by the inertial measurement equipment, the robot can estimate the pose of the object to be operated in real time, and the position and the pose of the object can be accurately speculated by utilizing the pre-trained pose estimation model, so that the accuracy of the operation of the robot is improved. Therefore, the operation of the end effector of the robot can be accurately butted with the object, and errors in the operation process are reduced.

The invention discloses a magnetic control arc GTAW-GMAW composite narrow gap welding system and method. The system comprises a GTAW welding gun, a GMAW welding gun, a magnetic conductive iron core, a magnet exciting coil, a magnetic boot, an assembling clamp, a GTAW welding power source, a GMAW welding power source and a magnetic control power source. The GTAW welding gun, the GMAW welding gun, the magnetic conductive iron core, the magnet exciting coil and the magnetic shoe are fixed through the assembling clamp to form a welding assembly, and the welding assembly is connected with an end effector of the robot. The GTAW welding gun is connected with a GTAW welding power source through a cable. The GMAW welding gun is connected with a GMAW welding power supply through a cable; the excitation coil is connected with a magnetic control power supply through a cable; the GTAW welding power source, the GMAW welding power source and the magnetic control power source are in communication connection with the robot control system. The defect of incomplete fusion in narrow-gap welding of thick stainless steel plates and high-strength steel is effectively overcome, the optimized energy distribution not only refines the weld structure and improves the mechanical property of a joint, but also reduces deformation caused by heat input, and a stable and reliable high-quality welding result can be obtained.

The invention provides an ultrasonic probe normal automatic attitude adjustment method and system based on laser ranging for a curved surface component, and relates to the technical field of laser, and the method comprises the steps: scanning the curved surface component through a laser ranging sensor array, obtaining surface space coordinate point data, fitting a curved surface geometric equation, and dividing a detection area. And selecting a detection center point in each detection area, calculating a normal vector of the curved surface, converting the normal vector to a local coordinate system of the probe, constructing a pose transformation matrix, and calculating an attitude angle parameter of the ultrasonic probe. And finally, converting the attitude angle parameter into a motion control instruction of a robot end effector, driving a three-axis servo motor assembly to adjust the attitude of the ultrasonic probe, and performing real-time attitude correction through an angle encoder to ensure that the ultrasonic probe is always perpendicular to the surface of the curved surface component. According to the invention, normal automatic posture adjustment of the ultrasonic probe in curved surface component detection is realized, and the detection precision and efficiency are improved.

This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.

The multi-deposit end effector system 100 can include: a set of actuators 110; an optional set of utensil mating connectors 120; and a plurality of utensils 200. Each utensil can include: a set of scoops 210; a set of mechanical linkages 220; a set of ingressive elements 230; and / or any other suitable components. However, system 100 can additionally or alternatively include any other suitable set of components. The system functions to facilitate ingredient (e.g., foodstuffs) manipulation with the plurality of utensils. More preferably, the system can function to facilitate portioned ingredient picking and / or deposition (e.g., insertion at a target foodstuff container and / or placement location) using each utensil of the plurality of utensils.

The invention relates to a robot polishing online flutter suppression method based on reinforcement learning, and relates to the technical field of robot vibration control and regulation, and the method comprises the following steps: starting from a vibration signal and a force error signal in a robot polishing process, performing discrete wavelet transform, energy entropy calculation and statistical feature extraction to obtain a vibration signal and a force error signal; the method comprises the following steps: constructing a multi-source feature vector with high identification degree, normalizing the multi-source feature vector, performing feature fusion and dimensionality reduction by adopting a convolutional neural network and a multi-head attention module to obtain low-dimensional feature representation, constructing a time sequence enhanced strategy model through a DDPG framework embedded with LSTM, and outputting impedance parameters based on a time sequence state by an Actor network in the strategy model to obtain a time sequence enhanced strategy model; and the Critic network realizes stable updating of a strategy by minimizing a loss function and combining entropy regularization so as to regulate and control an end effector of the robot, real-time suppression and efficient control of a complex flutter mechanism in the process of polishing the thin-walled workpiece by the robot are realized, and the self-adaptability and the control precision of the system are remarkably improved.

The invention relates to a multi-task operation planning method and system for an autonomous robot driven by a body cognition large model. The method comprises the steps that S1, coding is carried out based on an RGB image and a depth image which are obtained in real time, and body visual representation is obtained; s2, acquiring a natural language instruction, performing cross-modal fusion on the natural language instruction and the body visual representation to obtain a fusion feature, and performing multi-task decomposition on the basis of the fusion feature; s3, on the basis of a multi-task decomposition scheme, a diffusion strategy is utilized to generate a continuous action track of a robot end effector; and S4, acquiring a second RGB image and a second depth map after the robot executes according to the continuous action track, and taking the second RGB image and the second depth map as closed-loop feedback signals. The system is used for realizing the method. Compared with the prior art, the multi-task autonomous planning and accurate execution capability of the robot in a dynamic complex environment is remarkably improved by deeply fusing vision and language modalities based on the biont cognition large model and predicting an accurate action trajectory in combination with the diffusion strategy action decision module.

The invention discloses a robot hand-eye calibration method and device based on a laser displacement sensor, and the method comprises the steps: controlling an end effector of a robot to move, enabling a laser beam to be projected into a target region of a calibration plate, collecting a two-dimensional image of a laser point, and obtaining the pixel coordinate of the laser point; acquiring a two-dimensional image of the calibration plate including the target area through a two-dimensional image sensor, and calculating to obtain a pixel coordinate of a central point of the target area; a robot end effector is controlled to move randomly, real-time pixel coordinates of the laser points on the calibration plate and corresponding robot end poses are obtained, and a transformation matrix of the light spot pixel coordinates and the robot end poses is calculated based on the real-time pixel coordinates of the laser points on the calibration plate and the corresponding robot end poses; a robot end executor is controlled to move to enable a laser point to coincide with the center point of the target area, the real-time robot end pose is collected, and displacement data measured by a laser displacement sensor are obtained; and calculating calibration parameters according to the data.

The invention discloses a marine seat framework welding track real-time correction system based on machine vision and mechanical feedback. The marine seat framework welding track real-time correction system comprises a robot control unit, a welding unit, a vision sensing unit, a force sensing unit and a track correction module running on the robot control unit. The visual sensing unit is installed on an end effector of the robot and used for collecting image data including a to-be-welded weld joint and a peripheral area of the to-be-welded weld joint in real time. The force sensing unit is installed between a robot end effector and a welding gun and used for detecting six-dimensional force and torque signals between the welding gun and a workpiece in the welding process in real time. The core of the track correction module is a real-time correction algorithm based on multi-sensor information fusion, and the track correction module receives image data from the visual sensing unit and mechanical data from the force sensing unit. The sensing limitation of a single sensor is overcome, the vision provides macroscopic position deviation, the force sensing provides microcosmic contact and attitude information, and more comprehensive environment sensing is realized through complementation of the vision and the force sensing.

The invention discloses an intelligent tooling for paving a photovoltaic module and a control method thereof, the method is suitable for a robot end effector, and the method comprises the following steps: collecting three-dimensional space point cloud data of the photovoltaic module to generate pose information of the photovoltaic module, and controlling the end effector to carry out adaptive pose adjustment according to the pose information; the tooling is controlled to press down, and after it is judged that fitting is in place by monitoring the compression stroke of the suction cup, a vacuum adsorption instruction is started; the adsorption state is judged based on vacuum pressure change curve parallel monitoring and a dynamic balance algorithm, and a carrying permission signal is generated after a preset adsorption success condition is met; continuously carrying out anomaly detection in the carrying process, and if an anomaly is found, triggering a fault processing strategy; and releasing the negative pressure to place the photovoltaic module after the target position is reached, and rechecking the placement pose. Intelligent and self-adaptive picking and placing of the photovoltaic module by the tooling are realized, and the reliability, the safety and the automation level in the carrying process are improved.

The present disclosure relates to a work space force / acceleration disturbance observer and a robot including the same. The work space force / acceleration disturbance observer is connected to an impedance-based motion controller in a work space. The work space force / acceleration disturbance acquires a disturbance estimate value in consideration of an interactive force and an acceleration applied to an end effector of a robot. The disturbance estimate value is expressed in Equation 1: {circumflex over (D)}=Q(−F′c+Mo{umlaut over (x)}+Fext) wherein {circumflex over (D)} is the disturbance estimate value, “Q” is a “Q” filter, F′c is a control input force, {circumflex over (M)}o is a mass matrix estimate value, {umlaut over (x)} is the acceleration, and Fext is the interactive force.

The invention relates to the technical field of coffee latte robots, in particular to a robot task processing method and system for coffee latte. The method comprises the following steps: obtaining a target garland pattern instruction, and carrying out feature extraction on an input instruction through an image recognition and semantic analysis model; constructing a cup body coordinate system, and performing adaptive modeling on different apertures, depths and cup-shaped structures based on the cup body coordinate system and the collected features to generate a cup body space attitude parameter set; generating a time sequence track set of the robot end effector based on the corrected time sequence stable track set in combination with the state vector; and matching with a comparison target structured representation matrix, optimizing a trajectory control parameter and a fluid jet parameter, and realizing real-time adaptive adjustment and stable output of a garland result. By dynamically adjusting the noise covariance matrix, track deviation caused by liquid level disturbance and cup body shaking is corrected in real time, and the problems of garland stroke breakage and deviation caused by external disturbance are solved.

A method for performing robotic packing of objects in a container includes acquiring a first image of an object grasped by a robotic end effector and a second image of the container. The first image is used to estimate dimensions of the grasped object and compute an object kernel. The second image is used to construct a heightmap indicating multiple placement regions at specific height levels from a container base. For any placement region, the heightmap is used to construct feature maps for a number of features that affect placement feasibility and / or quality. A feature cost map is computed for each feature by convolving the feature map with the object kernel. The feature cost maps are combined to compute a total cost map for that placement region. An optimal placement pose is computed by identifying a minima from the total cost map (s) for one or more of the placement regions.

A sensor module for an end effector of a robot is described. The sensor module includes a substrate having formed thereon, a set of proximity sensors and a set of pressure sensors, the set of proximity sensors and the set of pressure sensors configured to have overlapping sensing regions, and a cover coupled to the substrate, the cover comprising a material that permits transmission of signals from the set of proximity sensors through the material.

The invention belongs to the technical field of building robots for heavy-load assembly, and particularly discloses a man-machine operation cooperation method based on operation intention for prefabricated part installation. The method comprises the steps that firstly, an improved shear thickening fluid dynamic model and an improved robot kinematics dynamic model are built, and a robot control model is built according to the two dynamic models; thirdly, collecting data to train a robot control model; then, an operator continuously adjusts the positions of a sensor and an operation handle at a robot end effector according to the actual position on site and then executes installation operation; and finally, continuously transmitting the operation data to the robot control model, analyzing the operation intention, optimizing the parameters, obtaining an action scheme, and executing the action scheme until the end. According to the invention, the robot can accurately capture the operation intention of the operator, and the flexibility and efficiency of the assembly operation are improved. The method can be widely applied to man-machine cooperation of prefabricated part installation.

The invention discloses a robot trajectory planning method and system for electric vehicle stator welding, and belongs to the field of industrial robots. An optimal welding path is found through an integer programming algorithm; setting a safe distance; calculating a joint angle; possible collision is judged and processed by detecting the geometrical relationship between an obstacle and a robot connecting rod; smoothing the planned welding track by using a quintic spline interpolation method; the speed and the acceleration of the robot are limited by setting the initial speed, the acceleration and the termination condition of an end effector of the robot; introducing an optimization algorithm to carry out iterative optimization on the trajectory, and calculating a joint angle condition number, a global joint motion amount and a robot flexibility index; selecting an optimal position and path through a cost function and a collision detection algorithm; and updating the population and carrying out iterative optimization again. According to the method, the optimal smooth trajectory can be planned offline, the working efficiency of the robot is remarkably improved, and the preliminary planning and debugging time of an engineer is shortened.

The invention relates to a self-walking type spot welding robot and a control method thereof, the structure comprises a welding robot main body, a walking device and a control system, the welding robot main body adopts a six-degree-of-freedom industrial robot, and an end effector is a welding gun; the walking device comprises a chassis and crawler wheels arranged on the two sides of the chassis, each crawler wheel comprises a crawler, a guide wheel, a driving wheel and a planet wheel, and the guide wheels, the driving wheels and the planet wheels are arranged in the crawler in a non-equilateral triangle mode. Magnetic sheets which are sequentially arranged in the walking direction are arranged in the crawler belt, and the crawler belt wheels are controlled to walk on the steel structure by sequentially electrifying the magnetic sheets; the control system comprises a demonstrator, and a welding seam tracking system, a welding controller and a motion controller which are in signal connection with the demonstrator; the welding seam tracking system adopts a visual sensor to track a welding seam; the welding controller controls the welding gun to perform spot welding; the motion controller controls on-off of the magnetic sheet. Free walking of the welding robot on the steel structure can be achieved, and remote control is achieved.

Method of sequential handling of a plurality of freight units by an end effector of a robotic system comprises training a neural network operable to bias a plurality of samples of a configuration space of the end effector. Deployment of the trained neural network involves sensing an arrangement of freight units in a scene based on an image of the scene from a sensor. A freight unit is chosen based on the at least one trained neural network. A starting pose of the robotic end effector as a means to pick the chosen freight unit is chosen; and a goal pose of the robotic end effector is chosen as a means to place the chosen freight unit. A motion of the robotic end effector is planned from the starting pose to the goal pose based on a biased plurality of samples. Then motion on the end effector is controlled based on the planning.

The invention discloses a robot rapid replacement device and method based on multi-modal sensing and predictive control, and the device comprises a multi-source sensing module, a track prediction module, a self-adaptive adjustment module, a robot end effector, a control system, and a source sensing module. The trajectory prediction module, the self-adaptive adjustment module and the robot end effector are electrically connected with the control system; the multi-source sensing module comprises a force sensor and a displacement sensor which are used for collecting clamping force between the tool and the clamp and physical signals of the position of the tool in real time. The self-adaptive adjustment module eliminates sensor data lag through a dynamic coupling compensation algorithm, and realizes precise force control in combination with a contact impedance model, a quick locking mechanism and an automatic positioning system are arranged at the robot end effector, the tool replacement speed can be greatly increased while the tool replacement precision is not reduced, and the tool replacement efficiency is improved. And the high requirements of an efficient automatic production line on cutter replacement time and precision are met.

The invention discloses a robot end effector positioning mechanism based on computer vision guidance, and relates to the technical field of robots, the robot end effector positioning mechanism comprises a vision acquisition module, an image processing module, a motion control module and a data transmission module, the vision acquisition module is used for acquiring image information of a target object and a working environment; the image processing module is in signal connection with the visual acquisition module and is used for processing and analyzing an image acquired by the visual acquisition module, and the motion control module is used for controlling the motion of an end executor of the robot so as to enable the end executor to accurately reach a target position. Denoising enhancement, feature extraction and positioning algorithm processing of the image processing module are combined with optimal path planning and accurate driving control of the motion control module, and high-speed data transmission is matched to guarantee real-time performance, so that the accuracy and operation efficiency of target positioning in automatic operation are remarkably improved, and the manual intervention requirement is effectively reduced.

This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.

The invention provides a collaborative robot man-machine interaction and anti-collision control method and device based on admittance, and relates to the technical field of robot intelligent control. The method comprises the following steps: acquiring control input force; according to the control input force, constructing a relationship between a state variable and control input in the man-machine interaction system; according to the relation, an expected admittance model and a soft saturation function are adopted, and a reference trajectory of the robot end effector is generated; according to the reference trajectory, an Actor-Critic algorithm is adopted, and a reinforcement learning neural network controller based on admittance control is designed; according to the reinforcement learning neural network controller based on admittance control, a control strategy in the man-machine interaction system is adjusted, and an anti-collision strategy in the man-machine interaction system is obtained. According to the invention, the safety and stability of the man-machine interaction system are improved.

This invention provides a system and method for calibration of a 3D vision system using a multi-layer 3D calibration target that removes the requirement of accurate pre-calibration of the target. The system and method acquires images of the multi-layer 3D calibration target at different spatial locations and at different times, and computes the orientation difference of the 3D calibration target between the two acquisitions. The technique can be used to perform vision-based single-plane orientation repeatability inspection and monitoring. By applying this technique to an assembly working plane, vision-based assembly working plane orientation repeatability, inspection and monitoring can occur. Combined with a moving robot end effector, this technique provides vision-based robot end-effector orientation repeatability inspection and monitoring. Vision-guided adjustment of two planes to achieve parallelism can be achieved. The system and method operates to perform precise vision-guided robot setup to achieve parallelism of the robot's end-effector and the assembly working plane.

A collaborative robot including: a movable base to movably position the collaborative robot at different variable work locations; an articulated robot actuator movable relative to the base to effect with a robot end effector a predetermined function corresponding to at least one workstation at the at least one work location, the at least one workstation having an undeterministic variable pose with respect to the at least one work location; a vision system connected to the articulated robot actuator to image a vision target connected to and corresponding uniquely to each of the at least one workstation; and a controller to determine from the image data the workstation pose relative to the movable base and automatically teach the articulated robot actuator the workstation pose so as to effect a predetermined deterministic interface, associated with a predetermined workstation function characteristic, between the workstation and robot end effector.

The invention relates to the technical field of robot end executors, in particular to a bionic flexible self-adaptive dexterous hand and a control method.The dexterous hand comprises a palm, bionic fingers, a driving assembly, a reset assembly and a sensing system, the bionic fingers comprise knuckles connected in series through joint mechanisms, and the bionic fingers are movably connected with the palm through finger root joints; a non-Newtonian fluid core-shell structure is arranged on the finger pulp side and comprises a flexible sealing shell and a non-Newtonian fluid inner core filled in the flexible sealing shell, the driving assembly drives the fingers to bend through tendon rope retracting and releasing, the reset assembly enables the fingers to recover stretching after driving force is relieved, and the sensing system integrates a flexible sensor to feed back the grabbing state in real time. The non-Newtonian fluid slowly flows under pressure, so that the flexible shell perfectly fits the outline of an object, the contact area and friction force are greatly increased, creep deformation is resisted due to high internal energy consumption, and the irregular and smooth object is stably grabbed.

The utility model discloses a drivable manipulator end effector quick change device, which relates to the technical field of robot end effector quick change and comprises an upper main disc, a bearing base flange is mounted at the upper end of the upper main disc, a lower main disc is detachably connected to the lower end of the upper main disc, a tool side flange is mounted at the lower end of the lower main disc, and a tool side flange is mounted at the lower end of the tool side flange. A hollow column is fixedly arranged in the upper main disc in a sleeved mode, a first convex groove is formed in the lower end of the bearing base flange, a second convex groove is formed in the tool side flange disc, a transmission component is arranged in the hollow column, and a driven component is arranged in the second convex groove. By arranging the driven component and the transmission component, equipment can be driven to rotate, other independent transmission devices do not need to be introduced into the tool side flange plate to drive the equipment to rotate, the complexity of the device is reduced, only one motor is needed to serve as a power source, and cost is saved.

The present invention discloses an electrically integrated industrial robot end quick-change locking device, comprising: a locking body, which is formed by an accommodating column and a fixing plate connected as a whole, a plurality of first air holes are opened on the outer wall of the accommodating column from the outside to the inside, a driving motor is installed in the fixing plate, a locking mechanism is located on the upper side of the locking body, and is used for rotating under the drive motor, a plurality of second air holes are opened on it, and a cover body is located on the upper side of the locking mechanism, and a plurality of third air holes are opened on it, and is used for being clamped and locked by the rotating locking mechanism when extending into the accommodating holes from top to bottom, so that the end effector fixedly connected to the upper side of the cover body is connected together with the locking body, and then the driving gas passes through the first air hole, the second air hole, and the third air hole in sequence and enters the end effector to drive the end effector to move; the present invention can integrate an electrical interface while realizing the quick-change function of the end effector of the industrial robot, and can directly enter the working state after quick change.