302 results about "Robot end effector" patented technology

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 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 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.

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.

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 invention provides a robot assembly space obstacle avoidance method and system applied to 3D perception, and relates to the technical field of robot automatic assemblation.The method comprises the steps that 3D assembly space data of a robot assembly area are obtained firstly, and the 3D assembly space data comprise assembly targets, static obstacles, dynamic obstacles and related information of a robot end effector; extracting spatial obstacle features from the data, establishing an initial obstacle association relationship, dynamically updating the initial association relationship, generating a real-time obstacle association relationship, and generating obstacle avoidance path constraints sorted according to an execution sequence according to the real-time association relationship and motion range information of an end effector; and finally, on the basis of the constraints and the three-dimensional contour information of the assembly target, generating a dynamic obstacle avoidance track of an end effector of the robot, including a continuous position coordinate sequence and a corresponding attitude angle sequence, so that efficient and safe obstacle avoidance of the robot is realized.

The invention belongs to the technical field of robot control, discloses a robot end effector force control method and system for conformal vibration polishing of an optical element, and solves the problems of periodic disturbance, friction nonlinearity, multi-axis mutual interference and the like caused by conformal tangential vibration in the polishing process of a complex curved surface of the optical element. And the normal constant force precision, the polishing consistency and the machining surface shape quality are guaranteed. According to the algorithm, a multi-module collaborative architecture is adopted, and means of an observer, adaptive filtering, mutual interference modeling, feedforward friction compensation and the like are combined, so that a set of composite control scheme with high real-time performance, high robustness and good adaptability is formed. High-precision force control under conformal vibration polishing complex disturbance of the robot is achieved; multi-module coordination mechanisms such as a fourth-order extended state observer (4th-ESO), frequency selection filtering and inverse trapped wave compensation, friction feedforward and mutual interference decoupling are introduced;

Disclosed are techniques and systems for automatically determining and correcting the levelness of a wafer handling robot end effector. The systems may use a tilt sensor or a gravitational field sensor which may be calibrated to the wafer handling robot. The output from the tilt sensor may be used to determine or estimate the tilt of an end effector of the wafer handling robot and to perform correctional positioning to reduce or eliminate the tilt, to automatically teach certain positions that have reduced tilt, to perform health checks on the robot, provide feedback to a user, etc.

The invention discloses a grinding robot end effector with a vibration reduction function. The grinding robot end effector comprises a motor mounting frame, a rotating motor, a vibration reduction mechanism assembling frame, a magnetorheological damper and a vibration reduction plate. One end of the motor mounting frame is connected with the polishing robot; the rotating motor is mounted at the other end of the motor mounting frame; one end, corresponding to an output shaft of the rotating motor, of the vibration reduction mechanism assembly frame is fixedly sleeved on a shell of the rotating motor; the output shaft of the rotating motor penetrates through the vibration reduction mechanism assembly frame and is vertically and fixedly connected with the grinding turntable; the multiple magnetorheological dampers are all installed in the vibration reduction mechanism assembling frame, and the moving end of each magnetorheological damper abuts against the output shaft and applies radial damping force to the output shaft. The multiple vibration reduction plates are fixed to the vibration reduction mechanism assembling frame, and each vibration reduction plate is provided with the multiple elastic buffering units. The grinding robot end effector with the vibration reduction function has an excellent vibration reduction effect, and the grinding precision is improved.

The invention relates to the technical field of intelligent equipment. A trajectory diffusion imitation learning method based on single human video demonstration comprises the steps that a demonstration video is analyzed to obtain an operation body posture motion trajectory and an object pose motion trajectory, and the demonstration video is a video of a human or machine operation object; respectively carrying out interpolation calculation on the positions and postures of the operation body posture motion trail and the object pose motion trail to obtain a training data set; using the training data set to train a diffusion strategy model to obtain a target diffusion strategy model; and during deployment, the real-time pose of an end effector of the robot serves as observation input of the target diffusion type strategy model, an operation body pose movement track and an object pose movement track in the deployment stage are formed, and a joint control instruction of a target operation body is obtained. And the task success rate is kept, and the practicability and the expandability of the imitation learning method are improved at the same time.

The invention discloses a curved surface film covering flatness self-adaptive control method based on machine vision, and relates to the technical field of mechanical arm control. The system comprises a machine vision sensing module, a robot end effector, a composite controller and a distributed clamping jaw array. The method comprises the following steps: acquiring a fringe projection image sequence and dynamic trajectory data of an end effector; performing phase calculation and three-dimensional reconstruction on the image sequence, constructing a digital elevation model and calculating flatness error data; inputting the dynamic trajectory data into a feedforward controller to generate a compensation instruction, inputting the flatness error data into a feedback controller to generate a correction instruction, and superposing to obtain a comprehensive correction instruction; and acquiring a strain sensitivity matrix, distributing the comprehensive correction instruction into displacement execution parameters of each clamping jaw by utilizing pseudo inverse operation, and issuing and executing the displacement execution parameters. According to the method, real-time sensing and active intervention of dynamic deformation are realized, and the yield and batch consistency of curved surface film coating are remarkably improved.

The invention provides a nursing robot sensor control method and system, and relates to the technical field of nursing robot control. The method comprises the following steps: acquiring vertical pressure data and shear force data; performing calibration based on the calibration parameters to obtain calibrated vertical pressure data and shear force data; constructing and updating a skin stress distribution map reflecting vertical pressure distribution and shear force distribution of the contact area in real time; according to the skin stress distribution map, the contact force is redistributed by adjusting the moving direction or the inclination angle of the end effector of the nursing robot, and the local high pressure is dispersed by changing the contact point or the force application point of the end effector of the nursing robot. The method aims at solving the problems that initial calibration is insufficient and a simplified torque control model cannot accurately recognize a local high-pressure point and continuous shear force, accurate sensing and self-adaptive adjustment of the vertical pressure gradient and the continuous shear force are achieved, and accumulative micro-damage which is difficult to find in the early stage by conventional means is avoided.

The invention discloses an irregular part uncalibrated grabbing method and system, and belongs to the technical field of mechanical control, and the method comprises the steps: image collection: based on a depth camera installed on an end effector of a robot, capturing a real-time RGB image and a depth image, and outputting image data; rotating target detection and positioning: building a rotating frame grabbing target detection model and training, and executing rotating frame grabbing target detection; servo control of image vision: extracting current image features, defining expected image features, designing an image vision servo control law, and obtaining the joint speed of the robot; grabbing is performed through robot motion execution and iteration. A closed-loop visual servo mode directly calculates errors in an image space and generates a control instruction, so that not only is a tedious hand-eye calibration step in a traditional method avoided, but also an end effector of a robot can be continuously guided to accurately and robustly approach a target grabbing pose, system errors and environmental disturbance are effectively compensated, and grabbing positioning accuracy and success rate are improved.

The invention discloses an anti-impact compliance control method, device and system for a robot tail end and a storage medium. The force information of the robot tail end is estimated based on the position, speed and joint motor torque information of a robot; and the abrupt change torque of the end effector is compensated through the trained network system, and the anti-impact performance and the contact flexibility performance of the robot end effector are improved.

The invention relates to a robot ball joint singularity avoidance method based on damping factor analytic expression. The method comprises the following operation steps that a pose difference calculation module calculates the rotation matrix variable quantity of an end effector of a robot in real time; the self-adaptive Jacobian matrix construction module is used for a damping factor dynamic adjustment mechanism based on SVD (Singular Value Decomposition) analysis; the joint space updating module is used for realizing smooth updating of a joint angle through optimized inverse kinematics solution; through a theoretically guided damping adjustment mechanism, precision-continuity-efficiency triple optimization of singularity avoidance of the ball joint of the robot is realized for the first time, and a universal solution is provided for high-precision robot control.

The invention discloses a vibration frequency detection and suppression method and device for a robot end effector, and relates to the field of robots. The method comprises the following steps: acquiring current and position feedback information of each joint of the robot; performing filtering processing on the current and the position feedback information to obtain a position feedback signal of each joint of the robot, and performing second-order difference calculation on the position feedback signal to obtain a vibration frequency of each joint of the robot; judging whether the end effector shakes or not according to the vibration frequency of each joint of the robot; if it is determined that the end effector shakes, the vibration suppression frequency is determined; inputting the vibration suppression frequency into a vibration suppressor to obtain a shaped pulse sequence; and performing convolution operation on the original control signal based on the shaping pulse sequence to obtain a target control signal, and controlling the robot to operate according to the target control signal. By implementing the technical scheme provided by the invention, the detection and suppression efficiency of the tail end vibration of the robot is improved.

A robot end effector comprising a pivotable suction cup assembly and a belt drive connected to the suction cup assembly to pivot the suction cup assembly in use.

The present application relates to a kind of self-robot multi-task operation planning method and system driven by embodied cognitive large model, wherein the method comprises: S1, based on the real-time acquisition RGB diagram and depth diagram are encoded to obtain embodied visual representation;S2, obtain natural language instruction and and embodied visual representation are fused across modalities, obtain fusion feature, and based on fusion feature multi-task decomposition scheme;S3, based on multi-task decomposition scheme, utilize diffusion strategy to generate the continuous action trajectory of robot end effector;S4, obtain the second RGB image and second depth diagram after robot executes according to continuous action trajectory, and it is used as closed loop feedback signal, system is used to realize the above-mentioned method.Compared with prior art, the present application is based on embodied cognitive large model, and the depth of visual and language modalities is deeply fused, and combined with diffusion strategy action decision module, accurate action trajectory is predicted, and the multi-task autonomous planning and accurate execution capability of robot in dynamic complex environment is significantly improved.

The invention relates to the technical field of machine vision, and discloses an intraoperative hand-eye calibration method for a surgical robot, which comprises the following steps of: rigidly connecting a tracking camera with an endoscope, acquiring a fixed pose relationship of the tracking camera and the endoscope through spatial calibration, converting a pose of the tracking camera into a pose of the endoscope, and recording a paired sample of an image and the pose of the endoscope; based on the image and endoscope pose pairing sample, training an image pose regression model, and outputting the rotation amount and the translation amount of the endoscope at the image acquisition moment; inputting the trained regression model, estimating the posture of the endoscope, and recording the posture information of an end effector of the robot; image relative movement and mechanical arm relative movement are constructed, and the spatial transformation relation between the endoscope and the tail end of the surgical robot is calculated. According to the method, preoperative calibration is adopted, the space fixed pose relation between the tracking camera and the endoscope is combined, the absolute pose estimation model of the endoscope is established through the accurate calibration process, and it is ensured that the pose of the endoscope can be inferred only through images in the operation.

The invention relates to the technical field of robot control, and discloses an ultrasonic image guided robot operation method, device and equipment and a medium, and the method comprises the steps: obtaining real-time ultrasonic image data, executing non-rigid image registration based on the real-time ultrasonic image data and reference image data to determine current deformation data, and based on the current deformation data and the historical deformation data, using a recursive least square method with a forgetting factor to predict future deformation path data, based on the future deformation path data and the target path data, generating a robot navigation instruction, and according to the robot navigation instruction, controlling a robot end effector to move so as to track the future deformation path data. According to the method, a real-time ultrasonic image data registration result is integrated with a prediction algorithm and a navigation control algorithm, and a closed-loop process of data perception, deformation prediction and robot end motion control is established, so that a robot end effector can adapt to a dynamic deformation environment and continuously and accurately track a target path, and the operation precision is effectively improved.

The invention provides a spraying operation control method and device fusing distance measurement and positioning information. The method comprises the following steps: acquiring internal positioning information of an end effector of a robot in real time, and distance and contour information, measured by an external sensor, between a spray gun and the surface of a workpiece; an improved Kalman filtering algorithm is adopted to process the information of the two sources, and real-time state estimation, which is more accurate and more robust than that of a single information source, of the spray gun relative to a workpiece is generated; and on the basis of the high-precision fusion state information, unified closed-loop control is carried out on operation parameters such as the spraying track, the spraying gun posture, the running speed and the spraying flow. Through the information fusion technology, the precision and reliability of the spraying control system are greatly improved, the spraying control system can better adapt to complex environments and dynamic changes, and the spraying quality under extreme conditions is ensured.

A robotic end effector apparatus and method of replacing a first flexible gripper sheet of a robotic end effector apparatus for grasping an article using a suction effect is disclosed herein. The robotic end effector may include a suction tube having an open lower end, a mounting flange fixed to the suction tube adjacent the open lower end, a clamping ring slidable received around the suction tube above the mounting flange, a biasing spring biasing the clamping ring downward toward the mounting flange, and a flexible sheet having a center opening smaller than the mounting flange in a relaxed state of the flexible sheet, the flexible sheet being stretchable so that the flexible sheet can be pulled upward over the mounting flange. The flexible sheet may be clamped between the clamping ring and the mounting flange with the flexible sheet extending radially outward beyond the mounting flange.

The invention belongs to the technical field of medical instruments, and discloses a multi-degree-of-freedom surgical robot end effector which comprises a wrist mechanism, and the wrist mechanism comprises a first connecting piece, a second connecting piece, a first forceps holder, a second forceps holder, a first pin shaft, a second pin shaft, a first driving rope, a second driving rope and a third driving rope; the first forceps holder and the second forceps holder are rotationally connected with the first end of the first connecting piece through a first pin shaft respectively; the second end of the first connecting piece is rotationally connected with the second connecting piece through a second pin shaft; the second pin shaft is perpendicular to the first pin shaft; the far end of the first driving rope is fixed on the first forceps holder and drives the first forceps holder to rotate around the first pin shaft; the far end of the second driving rope is fixed on the second forceps holder and drives the second forceps holder to rotate around the first pin shaft; the far end of the third driving rope is fixed to the second end of the first connecting piece and drives the first connecting piece to rotate around the second pin shaft. Coupling between two degrees of freedom can be avoided, and the motion precision of the end effector is improved.

The present application relates to the medical robot control and precision testing technical field, especially related to a kind of kinematics parameter closed-loop calibration method and device of surgical robot end effector.The method is first set up reflection unit on surgical robot end effector, and the motion data of driving unit and the light spot position data detected by photoelectric detection unit are collected;Control surgical robot end effector executes rotary scanning movement to carry out coordinate correction to light spot position data;Each independent motion axis of surgical robot end effector is driven respectively, and according to the mapping relationship of corrected light spot position data and motion data, the transmission parameter and hysteresis parameter of each independent motion axis are identified;Drive the motion axis with coupling relationship, identify inter-axis coupling coefficient, and configure kinematics calibration model to control system.The present application effectively eliminates steel wire transmission coupling and system geometric error through step-by-step optical feedback and geometric self-calibration, and improves the operation precision of end effector.

A robot force control method based on a diffusion model belongs to the field of robot control, and comprises the following steps: collecting 6D force / torque data and pose data of a robot end effector, and preprocessing the collected data; constructing a diffusion model and training; designing and integrating a dynamic system filter; force control instruction generation and robot control closed loop: collecting a current tail end pose and historical five frames of 6D force / torque data in real time, inputting the data into a diffusion model for reasoning, and inputting a predicted value output by the diffusion model into a dynamic system filter to generate a real-time force control instruction; and the force control instruction is converted into the pose adjustment amount of the robot end effector according to the robot dynamic model, the pose adjustment amount is sent to the robot controller, the robot is driven to execute actions, and the force control effect is verified through the next round of data acquisition. According to the method, the zero sample migration capability and robustness are remarkably improved, the real-time performance and the control frequency matching degree reach the standard, the task application range is expanded, and the economic and social benefits are remarkable.

The invention relates to the technical field of six-dimensional force sensors, in particular to a robot tail end six-dimensional force sensor which comprises a fixing plate, the top of the fixing plate is fixedly connected with a guide plate, the top of the guide plate is fixedly connected with a mounting plate, a trapezoidal groove is formed in the top of the mounting plate, and a sensor body is arranged in the trapezoidal groove. The side face of the sensor body is fixedly connected with the force sensitive element through the rigid beam, the sensor body, the rigid beam, the force sensitive element, the trapezoidal groove, the fusion ant colony optimization module and the wire are used in cooperation, the force sensitive element is made of a magnetopolymerization new material, a traditional metal strain gauge is replaced, the sensitivity is improved, and the service life is prolonged. An embedded stepped rigid beam structure is arranged among the trapezoidal groove, the force sensitive element and the rigid beam to replace a traditional cross beam elastic deformation design, the plastic deformation risk is eliminated, and structural decoupling is achieved.

The invention discloses a Delta robot trajectory tracking method based on fuzzy-RBF (Radial Basis Function) control. The Delta robot trajectory tracking method comprises the following steps: firstly, establishing a conventional dynamic model of a Delta robot; a virtual control signal is introduced, a sliding mode surface is constructed, and a control law of a dynamic surface sliding mode controller is designed to ensure the stability and convergence of the system. And constructing a specific fuzzy logic system for adjusting the control gain. A radial basis function (RBF) structure is embedded into a fuzzy membership function, and the center and width of the membership function are iteratively updated by adopting an online adaptive optimization algorithm based on gradient descent, so that dynamic self-learning and parameter adaptation of a fuzzy system are realized. Finally, the output of the designed fuzzy-RBF self-adaptive dynamic surface sliding mode controller acts on a robot joint driving system, and high-precision trajectory tracking control of the Delta robot end effector is successfully achieved. A simulation result verifies the effectiveness and robustness of the provided control method in the aspects of processing parameter uncertainty and external disturbance.

The invention relates to the technical field of robot control, in particular to a fruit sorting robot control method and system based on machine vision, and the method comprises the steps: obtaining the initial fruit image data of a to-be-sorted fruit on a sorting conveyor belt and the current position data of a robot end effector; performing feature extraction and sorting grade identification on the initial fruit image data to obtain fruit feature data and a target sorting grade; comparing the fruit feature data with the current position data, and calculating to obtain position deviation data of the grabbing points; and correcting a preset grabbing coordinate corresponding to the target sorting grade based on the position deviation data to obtain target grabbing attitude data. According to the method, real-time image acquisition and target grabbing posture data comparison are carried out, so that the target sub-track sections can be dynamically corrected in the moving process, accurate grabbing is achieved, in this way, the robot can automatically adjust the track according to the actual position and posture of the fruit, and high-precision grabbing is ensured.

The invention discloses a hazardous chemical substance filling actuator trajectory planning control method, system and device and a medium. Obtaining structure parameters of a filling actuator and first space information of a target filling port; based on the first space information of the target filling port and the structure parameters of the filling actuator, second space information corresponding to the filling actuator is generated; according to the first space information and the second space information, a filling planning track of a filling actuator is planned and generated; and on the basis of the filling planning track, a filling actuator is controlled to move towards the target filling opening, so that filling operation is completed. According to the method, the structure parameters of the end executor of the hazardous chemical substance filling robot are obtained, the corresponding space information is generated based on the coordinate system of the target filling port, the motion trail of the filling executor for executing the filling task is generated, and the executor is controlled to complete the filling operation accordingly, so that the rationality and accuracy of the trail of the filling executor are improved, and the filling efficiency of the hazardous chemical substance filling robot is improved. And safety risks caused by collision and scattering are avoided.