35 results about "Robot modeling" patented technology

The invention provides a simulation method and device of a digital twin system of an industrial robot. The simulation device comprises the industrial robot, a vision perception unit and a computer, wherein the vision perception unit is arranged at the tail end of the robot and is composed of a camera and a wire structure light emitter; an industrial robot simulation system is established, the robot is modeled, and three instructions are analyzed and run; a target three-dimensional measurement model of a robot visual system is acquired by using a wire structure optical geometric triangular method; a motion instruction is determined for the working task of the robot, virtual simulation is carried out through the computer, and reachable points and collision point detection are carried out; and the robot is actually used for identifying a target object through the visual perception unit, and the actual movement of the robot is driven. The simulation device is safe and reliable in virtual simulation, abnormal operation possibly in actual operation is avoided, the visual perception unit is used for identifying the target object through three-dimensional visual technology, the self-adaptive capacity of the robot to the field environment is improved, and flexibility and intelligence are enhanced.

The invention provides a motion control system and method for electrically-driven a hexapod robot, relates to the field of motion control of hexapod robots, and aims to overcome the defects that a robot is usually low in independent flexibility, low in integral adaptability, low in motion control response speed, strong in dependence on the work environment and the like, and to solve the problem that complexity of the control system is increased because of various degrees of freedom. The control system comprises a foot-type module and a wheel-type module, and the control system is carried out according to the following steps particularly: 1, building a hexapod robot modeling module; 2, building a coordinate system calculating module; 3, controlling a servo motor through a motion controller for accurate position movement, and determining variation of the mass center of a robot platform through a posture motion module by applying a robot coordinate transforming matrix; 4, realizing moving forwards, retreat, left turn, right turn and the like of a wheel-type system. The control system and the control method are applied to the field of motion control of the hexapod robot.

The invention discloses a flexible multi-body robot modeling and solving method based on multi-dimensional reconstruction correction, This method is successively performed by: A mathematical model ofrigid component and a flexible component are respectively constructed and parameters are set, the holonomic constraint conditions of a flexible multi-body robot system are established, the static anddynamic equations of flexible multi-body robot system with holonomic constraints are obtained, According to the known state parameters of t-time, the state parameters of t + h-time are obtained by iterative solution of dynamic equations under complete constraints using multi-dimensional reconstruction and correction method, and the state parameters of t + h-time are obtained by repeated iterativeprocess until the end of the algorithm. The forward and inverse dynamic models of flexible multi-body robot with holonomic constraints are established by the modeling and solving method, and the dynamic equations are solved iteratively by using the multi-dimensional reconstruction and correction algorithm. The modeling is complete and the solving scale is small. Compared with the traditional solving method, the convergence condition is easier to be satisfied, and the efficiency of calculation and solution is improved.

The invention discloses a mechanical arm modeling and solving method based on improvement of a multi-body system transfer matrix. The method is characterized in that a discrete time transfer matrix method of the multi-rigid-body system is improved according to the structure characteristics of a planar mechanical arm and the relation between motion transfer and force transfer, a unified model of an n-degree-of-freedom series mechanical arm is built, and kinematic and dynamic solving method and process of a system model is provided by setting the boundary condition according to the two acknowledged motion conditions between the joint space and the operation space of the mechanical arm. The method has the advantages of being flexile in modeling, small in calculation scale, capable of covering the kinematic and dynamic characteristics of the system and more effective compared with the traditional robot modeling method, showing the excellence of the new method, and achieving the aims of clear idea, simple programming and achievement easiness.

The provides a modular spherical soft robot connected by magnetic force and relates to the modular soft robot connected by the magnetic force, and the modular soft robot connected by the magnetic force aims at solving the problems that an existing soft robot is complex in modular connection and poor in reliability and cannot be produced modularly in batches. The modular spherical soft robot comprises multiple soft spherical shells and multiple joint connection and drive mechanisms. Every two adjacent soft spherical shells are connected together through one joint connection and drive mechanism. The soft spherical shells are mutually connected to form a robot modeling. Each joint connection and drive mechanism comprises a driving drive module and a driven drive module. Each driving drive module and the corresponding driven drive module are arranged in the same soft spherical shell. Each driving drive module comprises a driving wheel shaft, a shell, two gear pairs, two driving magnet wheels and two motors. Each driven drive module comprises a connecting piece and two driven magnet wheels. Every two adjacent soft spherical shells are connected together through the corresponding driving magnet wheels and the corresponding driven magnet wheels which attract each other. The modular soft robot connected by the magnetic force is used for manufacturing the soft robot.

The invention discloses a method for robot precision calibration. The method for robot precision calibration includes the following steps of building a fundamental coordinate system; assigning a theoretical reference coordinate system for each joint of a robot, conducting modeling on the robot through a D-H representation method; building a transformational matrix A<n+1> of every two adjacent joints, and obtaining a total transformation matrix T of the robot through the sequential right multiplication of the transformational matrixes; calculating a theoretical pose X of the tail end of the robot relative to the reference coordinate systems; building an error calculation equation (please see the specifications for the equation) of the robot, and obtaining delta X; and obtaining a parameter error delta P (please see the specifications for the formula) of the robot through a least square method, and the parameter error Pn=P<n-1>+delta P of each joint, and finally compensating the errors to D-H model parameters of the robot. The method for robot precision calibration is easy and convenient to operate and low in cost, and the precision of the robot is improved greatly.

The invention belongs to the field of robot modeling and provides a kinematics modeling method for an articulated robot. The method comprises the following steps that the slant angle of a tail end actuator relative to the horizontal face of a pedestal coordinate system is input; according to the lengths and slant angles of all mechanical arms and through a kinematic inverse solution, the rotating angles of all joints and a pedestal of each mechanical arm are obtained; and according to the rotating angles of all the joints and the pedestal of each mechanical arm and through a forward kinematics solution, a transformational matrix of the tail end actuator relative to the pedestal coordinate system is obtained. According to the kinematics modeling method for the articulated robot, through the slant angle of the tail end actuator relative to the horizontal face of the pedestal coordinate system and the lengths of the mechanical arms, the rotating angles of all the joints and the pedestal of each mechanical arm are obtained through the kinematic inverse solution, and the pose and position of the tail end actuator relative to the pedestal coordinate system are obtained through the forward kinematics solution; and the derivation process of the modeling method is easy and pellucid, popular and easy to understand, convenient to program and suitable for reality.

The invention provides an uncertainty robot adaptive neural network control method based on an inversion method. The method includes the steps of step 1, establishing a kinetic model of an uncertaintyrobot; step 2, converting the kinetic model of the uncertain robot into a general state space form; step 3, defining a tracking error, and converting the general state space form in the step 2 into astate space form about the error; step 4, designing a model-based controller by using the inversion method; step 5, introducing a Moore-Penrose inversion, and designing a control law tau 0; and step6, designing an adaptive controller by utilizing a neural network under the condition of considering the kinetic model and the uncertainty of external disturbance. According to a neural network adaptive trajectory tracking method and the controller provided, the disturbance generated by an external environment and robot modeling uncertainty are fully considered, so that the method and the controller have more practical significance for improving the adaptive ability of a robot control system to uncertainty factors.

The invention discloses a home arrangement mobile robot based on an ROS, and relates to the technical field of robots. The method comprises the following steps: 1, adopting a positioning and mapping algorithm; 2, adopting a path planning method; 3, performing ROS robot modeling and simulation, wherein simulation is conducted in Rviz and Gazebo, mapping and automatic navigation are achieved, and a mechanical arm grabs a target object; 4, forming a robot; 5, performing visual identification; and 6, establishing mechanical arm: adopting ROS Moveit!. The software package serves as a mechanical arm motion planning software package; according to the invention, monocular vision shooting of an object is realized to obtain a matched image pair, image preprocessing and stereo matching are carried out, accurate positioning of a target object is realized, and recognition of target garbage is realized in combination with deep learning; and the robot is used for carrying out function testing of map building, automatic navigation and garbage grabbing on the indoor environment.

The invention provides a method for calculating driving force of a planar hydraulic amplification self-healing electrostatic actuator, and belongs to the technical field of robot modeling. According to the method, the driving force is decomposed into electrostatic force generated by an electrostatic field, elastic force generated by an elastic silica gel shell layer and hydrostatic pressure generated by compressing a middle liquid dielectric layer by the elastic silica gel shell layer, and the driving force is obtained by summing after each component force is calculated. The influence of various factors such as the actuator size, the pre-stretching rate, the silica gel shell thickness, the liquid dielectric volume and related material parameters is considered, and the driving force of theactuator can be calculated by simply measuring the parameters such as the actuator size and inputting the voltage. The method is simple and efficient, and can quickly calculate the accurate driving force of the planar hydraulic amplification self-healing electrostatic actuator. The control precision and the driving efficiency of the actuator to robot motion are effectively improved after being applied to a robot system.

The invention provides a wheel-legged robot stress-type motion posture conversion method and system. By establishing an unstructured environment database of a wheel-legged robot, the robot is modeledto obtain a stress-type motion posture module and a control module for stably conversion of each motion posture, so as to establish an external stimuli degree evaluation function of the unstructured environment. The wheel-legged robot performs real-time detection of the stimuli of the external unstructured environment and tracks the own movement posture. The stimuli degree evaluation function is used for determining a corresponding response mode, and the motion conversion module is used for realizing the posture conversion, so that the wheel-legged robot can realize rapid stress-type motion decision according to the changes of the environment; and therefore, the flexibility and adaptability of the robot in a complex unstructured dynamic environment are improved.

The invention discloses a robot control system safety protection system based on deep packet analysis and robot modeling technologies. The robot control system safety protection system based on the deep packet analysis and robot modeling technologies comprises a firewall, safety audit, motion instruction analysis and online model analysis, and safety protection of a robot is achieved. By layering a control network, the efficient protection system between an operator station and a terminal equipment node is established, the hidden danger, caused by direct data exchange, of information safety is avoided, the integrity, consistency and availability of control data of the industrial robot are protected, and the safety of the robot is guaranteed by the system.

The invention discloses a horizontal lower limb rehabilitation training robot designing method. The horizontal lower limb rehabilitation training robot designing method comprises the following steps that 1, a target trajectory to be achieved is obtained, and a variable-size and variable-trajectory four-rod mechanism is determined according to the trajectory; 2, the basic sizes of rods are calculated according to the target trajectory, kinematic and kinetic models are established for the connecting-rod mechanism and legs, horizontal lower limb rehabilitation robot modeling is performed by using Pro / E software to perform preliminary simulation; 3, a model is re-established. According to the horizontal lower limb rehabilitation training robot designing method, the target trajectory suitable for patients to train is determined by analyzing the limb situation of a human body and walking gait trajectories of ordinary adults so that the patients can well perform rehabilitation training to achieve an expected training effect.

The invention discloses a nonstandard robot modeling method which comprises the following steps: scanning a nonstandard robot to obtain a first module of the nonstandard robot; controlling a shaft arm of the nonstandard robot to move and recording the difference of pulse values received before and after motion by the shaft arm of the nonstandard robot; scanning the nonstandard robot after motion to obtain a second module of the nonstandard robot; obtaining rotation degree of the shaft arm of the nonstandard robot according to the first module and the second module; and carrying out calculating to obtain the shaft parameters of the shaft arm according to the difference of the pulse values received by the shaft arm before and after motion and the rotation degree of the shaft arm of the nonstandard robot, and setting the shaft parameters to the first module. According to the nonstandard robot modeling method, the model and the shaft parameters of the nonstandard robot can be obtained accurately, thereby helping to carry out simulation verification on the automation line with the nonstandard robot on simulation software.

The invention discloses a robot sensor information security enhancement device and method, and the method achieves the credible connection of a sensor and a robot controller through a mode of adding a protection terminal between the robot sensor and the controller, carries out the unique key encryption of a digital quantity and an analog quantity, and guarantees the confidentiality of a transmission process. Robot modeling auditing is adopted to check sensor data from the motion control level, the consistency of the sensor data and a controller is guaranteed, and safe and reliable communication is provided for the robot. The technical scheme of the invention can adapt to different types of robots and sensors, can be deployed more conveniently, can better adapt to an industrial field production environment, and can ensure the safety of sensor information transmission and a controller.

The invention discloses an industrial robot adaptive admittance control method based on a damping ratio model, which avoids robot modeling, designs an excitation function and constructs a neural network damping ratio model in admittance control design according to a mechanism relationship between a force error and a system damping ratio, and enables the damping ratio to be adjusted online through the model. The rigidity change of the tail end environment is indirectly adapted, and the admittance control of force-to-position self-adaptive conversion is achieved. Meanwhile, a reference trajectory control method is introduced, and the force tracking control precision is further improved. Compared with conventional admittance control, the force error of self-adaptive admittance control is smaller, the response speed is higher, and the self-adaptive admittance control method can adapt to the unknown grinding environment with variable rigidity.

The invention provides a method for calculating driving force of a planar hydraulic amplification self-healing electrostatic actuator, and belongs to the technical field of robot modeling. According to the method, the driving force is decomposed into electrostatic force generated by an electrostatic field, elastic force generated by an elastic silica gel shell layer and hydrostatic pressure generated by compressing a middle liquid dielectric layer by the elastic silica gel shell layer, and the driving force is obtained by summing after each component force is calculated. The influence of various factors such as the actuator size, the pre-stretching rate, the silica gel shell thickness, the liquid dielectric volume and related material parameters is considered, and the driving force of theactuator can be calculated by simply measuring the parameters such as the actuator size and inputting the voltage. The method is simple and efficient, and can quickly calculate the accurate driving force of the planar hydraulic amplification self-healing electrostatic actuator. The control precision and the driving efficiency of the actuator to robot motion are effectively improved after being applied to a robot system.

The invention provides an extraterrestrial celestial body detection sampling area workability assessment method, a medium and an apparatus. The method comprises the steps of: calculating the flatness,the slope and the aspect of a sampling point; judging whether the sampling point exceeds a pose limit of a manipulator; judging whether the sampling point is in a working space of the manipulator; judging whether the manipulator interferes with itself or a lander; according to the flatness of the sampling point and the judging results of the above-mentioned steps, calculating the workability parameters of the sampling point. The extraterrestrial celestial body detection sampling area workability assessment method is based on the combination of the principles of photogrammetry and the robot modeling control technology, takes factors such as the flatness and the accessibility of a sampling area and the safety of manipulators into full consideration, and quantizes the influence of each factor with values to obtain the workability parameters of each sampling point, thereby enabling ground operators to select sampling points conveniently, reducing the load of operating state analysis of the operators to a great extent and increasing the implementation efficiency of sampling area analysis.

The provides a modular spherical soft robot connected by magnetic force and relates to the modular soft robot connected by the magnetic force, and the modular soft robot connected by the magnetic force aims at solving the problems that an existing soft robot is complex in modular connection and poor in reliability and cannot be produced modularly in batches. The modular spherical soft robot comprises multiple soft spherical shells and multiple joint connection and drive mechanisms. Every two adjacent soft spherical shells are connected together through one joint connection and drive mechanism. The soft spherical shells are mutually connected to form a robot modeling. Each joint connection and drive mechanism comprises a driving drive module and a driven drive module. Each driving drive module and the corresponding driven drive module are arranged in the same soft spherical shell. Each driving drive module comprises a driving wheel shaft, a shell, two gear pairs, two driving magnet wheels and two motors. Each driven drive module comprises a connecting piece and two driven magnet wheels. Every two adjacent soft spherical shells are connected together through the corresponding driving magnet wheels and the corresponding driven magnet wheels which attract each other. The modular soft robot connected by the magnetic force is used for manufacturing the soft robot.

The invention discloses a method for establishing and solving a manipulator model based on an improved multi-body system transfer matrix. According to the structural characteristics, motion transmission and force transmission relationship of the planar manipulator, the present invention improves the discrete-time transfer matrix method of the multi-rigid body system, establishes a unified model of n-degree-of-freedom serial manipulators, and aims at the relationship between the joint space and the operation space of the manipulator. Based on the two known motion conditions between the two, by setting the boundary conditions, the kinematics and dynamics solution method and process of the system model are proposed. The research object of the present invention is a planar serial robot system. The mathematical model established by using the improved method of the multi-body system discrete time transfer matrix not only has the characteristics of flexible modeling and small calculation scale, but also can cover the kinematics and dynamics characteristics of the system at the same time. , which is more effective than the traditional robot modeling method, embodies the superiority of the new method, and achieves the goals of clear thinking, simple programming and easy realization.

The invention provides a motion control system and method for electrically-driven a hexapod robot, relates to the field of motion control of hexapod robots, and aims to overcome the defects that a robot is usually low in independent flexibility, low in integral adaptability, low in motion control response speed, strong in dependence on the work environment and the like, and to solve the problem that complexity of the control system is increased because of various degrees of freedom. The control system comprises a foot-type module and a wheel-type module, and the control system is carried out according to the following steps particularly: 1, building a hexapod robot modeling module; 2, building a coordinate system calculating module; 3, controlling a servo motor through a motion controller for accurate position movement, and determining variation of the mass center of a robot platform through a posture motion module by applying a robot coordinate transforming matrix; 4, realizing moving forwards, retreat, left turn, right turn and the like of a wheel-type system. The control system and the control method are applied to the field of motion control of the hexapod robot.

The invention discloses a method for robot precision calibration. The method for robot precision calibration includes the following steps of building a fundamental coordinate system; assigning a theoretical reference coordinate system for each joint of a robot, conducting modeling on the robot through a D-H representation method; building a transformational matrix A<n+1> of every two adjacent joints, and obtaining a total transformation matrix T of the robot through the sequential right multiplication of the transformational matrixes; calculating a theoretical pose X of the tail end of the robot relative to the reference coordinate systems; building an error calculation equation (please see the specifications for the equation) of the robot, and obtaining delta X; and obtaining a parameter error delta P (please see the specifications for the formula) of the robot through a least square method, and the parameter error Pn=P<n-1>+delta P of each joint, and finally compensating the errors to D-H model parameters of the robot. The method for robot precision calibration is easy and convenient to operate and low in cost, and the precision of the robot is improved greatly.

The invention discloses an interactive kinematics modeling method of a common industrial robot. The interactive kinematics modeling method comprises the steps that S1, a connecting rod coordinate system of the robot is established, and robot modeling parameters are set; S2, the robot modeling parameters are automatically converted into robot kinematics parameters; S3, a modeling reference system is established at a base of a robot three-dimensional model, and a connecting rod model of the robot is selected from the robot three-dimensional model; S4, a local coordinate system of the connectingrod model of the robot is automatically modified into a connecting rod coordinate system according to the modeling reference system and the robot kinematics parameters; S5, the robot kinematics parameters and the connecting rod model of the robot are stored as a configuration file of the ROBOOP robot; and S6, the configuration file of the ROBOOP robot is read, and the configuration file is analyzed to obtain a kinematic model of the ROBOOP robot. The modeling process is highly automatic, and the joint angle of a modeled virtual robot is consistent with that of a real robot.

The invention provides a foot type robot modeling system, method and equipment based on Modelica and a medium. The foot type robot modeling method based on Modelica comprises the steps that a multi-body dynamics simulation model of a foot type robot is constructed; obtaining a standard three-dimensional geometric file exported by drawing the three-dimensional geometric part drawing; in the process of creating the multi-body dynamics simulation model of the foot type robot, the multi-body dynamics simulation model of the foot type robot is associated with the standard three-dimensional geometric file, so that the multi-body dynamics simulation model of the foot type robot is visualized; performing parameter setting on the visualized multi-body dynamics simulation model of the foot type robot; and carrying out driving setting on the visualized multi-body dynamics simulation model of the foot type robot. According to the Modelica-based foot type robot modeling method, the problem that in the prior art, a foot type robot system with high reliability cannot be designed on the basis of dynamic characteristics in the motion process of a foot type robot is solved.

The invention relates to a modeling and controlling method for an automatic aligning and oil exchanging robot. The controlling method can acquire oil filling port coordinate values of the robot underall postures, and high-precision and fully-automatic operation of the entire oil loading and unloading action is realized. The method comprises the following main steps of (1) modeling of the automatic aligning and oil exchanging robot, (2) the debugging phase, and (3) the automatic operation phase.

The invention discloses a robot sensor information security enhancement device and method. By adding a protective terminal between the robot sensor and the controller, the trusted connection between the sensor and the robot controller is realized, and the digital quantity and the analog quantity are uniquely encrypted. Key encryption is used to ensure the confidentiality of the transmission process, and the robot modeling audit is used to verify the sensor data from the motion control level to ensure the consistency of the sensor data and the controller, and provide safe and reliable communication for the robot. The technical solution of the present invention can be adapted to different types of robots and sensors, can be deployed more conveniently, better adapts to the industrial field production environment, and can ensure the safety of sensor information transmission and controllers.

The invention provides a wheel-legged robot stress-type motion posture conversion method and system. By establishing an unstructured environment database of a wheel-legged robot, the robot is modeledto obtain a stress-type motion posture module and a control module for stably conversion of each motion posture, so as to establish an external stimuli degree evaluation function of the unstructured environment. The wheel-legged robot performs real-time detection of the stimuli of the external unstructured environment and tracks the own movement posture. The stimuli degree evaluation function is used for determining a corresponding response mode, and the motion conversion module is used for realizing the posture conversion, so that the wheel-legged robot can realize rapid stress-type motion decision according to the changes of the environment; and therefore, the flexibility and adaptability of the robot in a complex unstructured dynamic environment are improved.

The invention relates to an AZR adjustment method for real-time walking gaits of a biped robot. The method comprises the steps that: an online database is built through the calculation data of an offline system of the robot, wherein the online database comprises a robot step length set S, an AZR set H, a walking gait set G and an energy consumption set E; with a robot target travel distance d and expected AZR position rAZR given, a step length sequence Sm <*> with the lowest energy consumption is planned; each step length of the robot and an AZR variable eta i are taken out, an online database is inquired, a motor angle sequence gi for gait control is obtained; a real-time ZMP track rZMP is calculated according to a footstep pressure set Fi in walking of the robot; a deviation value ei of the rZMP (n) and rAZR (n) is utilized, a correction value eta i+1 of the AZR variable eta i is obtained through a PI correction method, and an online database is queried according to the correction value eta i+1 and the step length si+1, and the gait track of the biped robot is optimized on line. According to the method, the interference of robot modeling and environmental errors can be overcome, high-robustness and low-energy-consumption gait control is realized in the walking process of the biped robot, and the walking problem of the biped robot with high nonlinear characteristics is well solved.