19 results about "Robot modeling" patented technology

The invention discloses a multi-machine system number-real consistency error collaborative prediction method and system based on multi-agent reinforcement learning, and belongs to the technical field of multi-robot systems and artificial intelligence. According to the method, each robot is modeled as an intelligent agent, a centralized training distributed execution framework is adopted, and collaborative prediction of errors is achieved. Each agent collects own, neighbor and environment state information in real time, multi-source information integration is carried out through feature embedding and gating fusion, the influence of different information sources on errors is dynamically evaluated by adopting a layered attention mechanism, and propagation and coupling rules of the errors in a cluster are effectively modeled. In the training stage, the centralized commentator network is utilized to evaluate the global prediction performance, the cooperative optimization of each executor network is guided, and the prediction precision is improved. According to the method, active and collaborative prediction of the multi-machine system number-real consistency error is realized, and a key technical support is provided for error feed-forward compensation and system reliability guarantee.

The invention provides a robot full-flexible rigid-flexible coupling parametric modeling method and system, and belongs to the technical field of robot modeling. According to the method, firstly, based on MDH flexible expansion parameters, a floating coordinate method, a finite element method and a Rayleigh beam model are combined, and a full-flexible kinematics model containing flexible deformation of a base, joints and connecting rods is established; secondly, the speed and acceleration of key nodes of the model and any point of the flexible connecting rod are calculated in a recursive mode; constructing a local kinetic equation of each concentrated mass component and each distributed mass component based on a virtual power principle, and converting the local kinetic equations into a generalized coordinate space through a generalized Jacobian matrix; and finally, assembling to form a unified robot rigid-flexible coupling kinetic equation. According to the method, high efficiency and automation of the modeling process are realized, the accuracy of the model for describing the dynamic characteristics of the robot is improved, and an accurate basic model is provided for high-precision dynamic analysis and control of the robot.

This invention discloses a spatial domain impedance learning control method for a five-bar parallel robot, comprising the following steps: Step 1, establishing an Eulerian-Lagrange model of the five-bar parallel robot; Step 2, establishing a human-machine system interaction force model based on the trajectory tracking error of the parallel robot; Step 3, estimating impedance dynamics based on the Eulerian-Lagrange model; Step 4, designing an iterative learning strategy for human-machine interaction force based on the human-machine system interaction force model and impedance dynamics; Step 5, conducting control tests on the five-bar parallel robot using the iterative learning strategy for human-machine interaction force. The learning control method proposed in this invention ensures the convergence of tracking errors, considers the uncertainties in robot modeling, and further guarantees the safety of human-machine interaction.

The present invention discloses a composite human-machine shared collaborative control method for an underwater working robot, including a robot modeling stage, an information collection stage, a motion mapping stage, a task allocation stage, a task priority separation shared control stage and a force feedback stage, wherein the task allocation stage divides the task into a joint constraint task, a hybrid shared whole-body collaborative control task and a posture optimization task; the joint constraint task is controlled by an autonomous system to prevent the robot from self-collision; the hybrid shared whole-body collaborative control task focuses on the motion control of the end of the underwater manipulator, and the end of the underwater manipulator is controlled by a hybrid shared control method, integrating the input of the operator and the autonomous system, and performing motion allocation for the underwater vehicle and the underwater manipulator; the posture optimization task is controlled by an autonomous system to help the operator adjust the viewing angle. The present invention can automatically realize self-obstacle avoidance and auxiliary posture adjustment, and realize human-machine shared control in the terminal operation task.

The application discloses a kind of industrial robot dynamics identification method with nonlinear viscous friction, it is related to robot dynamics modeling and control field.The method is considered in robot modeling, nonlinear term of viscous friction, different from traditional coulomb viscous friction model, its content includes robot friction model construction, excitation trajectory model selection, parameter optimization and dynamics parameter solving.In excitation trajectory selection optimization, the trajectory model of five order Fourier series and five polynomials is selected, and the genetic algorithm with penalty function is used to optimize the parameters of excitation trajectory;In solving process, based on interior point method, iteration fitting is carried out, and complete dynamics parameters of robot are obtained.The friction model considered in the application has higher modeling accuracy, and the problem of system jitter at start and end position is overcome, the efficiency and accuracy of robot dynamics parameter identification are improved, and can be used in robot mobile handling, polishing and polishing and heavy load hydraulic industrial scene.

A parallel robot modeling method considering omni-directional motion error of flexible joint comprises the following steps: S1: defining mechanism end output pose, and establishing kinematics model of robot based on closed loop vector method; S2: combining motion variable of flexible joint to construct flexible joint output pose, and the motion variable comprises displacement amount and rotation angle amount of flexible joint in non-functional direction; S3: establishing local coordinate system in each flexible joint and moving joint in branch chain, and constructing homogeneous coordinate transformation matrix and transmission relationship among each matrix; S4: constructing mapping relationship between motion variable of each flexible joint and end output pose; S5: constructing force and torque balance equation of each flexible joint and moving joint in branch chain; S6: solving end output pose of mechanism by simultaneously solving each equation.The present application considers motion error of flexible joint in non-functional direction, establishes robot model with higher precision, and ensures operation precision and reliability of robot.

A simulation system includes: an acquisition unit that acquires sensor information detected by plural of sensors installed in an area in which a human worker moves and performs work; a generation unit that generates model data obtained by modeling a robot for replacing work of the human worker on the basis of the sensor information; and a display control unit that performs control to display the robot on the basis of the model data.

The utility model discloses a cola cup transformation toy. The cola cup transformation toy comprises a body modeling shell, two arm modeling shells, two leg modeling shells and a back modeling shell. The cola cup transformation toy has a cola cup modeling state and a robot modeling state, in the cola cup modeling state, the body modeling shell, the arm modeling shells and the leg modeling shells are folded and jointly spliced to form a cup body, and the back modeling shell covers the top of the cup body to form a cup cover; in the robot modeling state, one ends of the back modeling shell, the arm modeling shells and the leg modeling shells are connected to the body modeling shell, and the other ends of the back modeling shell, the arm modeling shells and the leg modeling shells are far away from the body modeling shell. The cola cup transformation toy can be transformed and switched between a cola cup modeling state and a robot modeling state, the transformation playing method is novel, the playing interest of children is high, other modeling bodies do not need to be matched for playing, and the cola cup transformation toy is convenient to store and carry when going out for playing.

The invention relates to the technical field of robot modeling, and provides a robot URDF model construction method and device, electronic equipment and a storage medium. The method comprises the following steps: receiving task description input by a user; clarifying and optimizing the task description to generate an optimized task description; performing semantic analysis on the optimized task description, and extracting task demand parameters; selecting a plurality of candidate components from a robot component library based on the task demand parameters; before the selected candidate components are combined, executing the following cross-domain compatibility pre-verification on the selected candidate components; according to combination constraints among the components, combining the candidate components subjected to cross-domain compatibility pre-verification, and generating a plurality of candidate URDF (Uniform Resource Description Framework) models; and based on the task demand parameters, evaluating the candidate URDF model in combination with a Pareto leading face to obtain an optimal URDF model, and outputting the optimal URDF model. According to the technical scheme, the robot modeling threshold is remarkably reduced, and the matching efficiency of the model and the task is improved.

The present invention relates to a method for quickly estimating unknown terms of a flying robot model based on fuzzy rule interpolation. The method includes: using the input error of the flying robot as the input of a fuzzy estimator; dividing the input and output domains of the fuzzy estimator to obtain input fuzzy sets and output fuzzy sets, and giving initial fuzzy rules; designing a fuzzy estimator without interpolation function by using a product inference engine, a singleton fuzzifier, and a center-average defuzzifier in combination with the initial fuzzy rules; judging whether fuzzy rule interpolation is needed according to a threshold; if the fuzzy interpolation function is called, first determining the representative values of the reference input membership function and the output, using the interpolation method to solve for the new input membership function and output representative values, calculating the rule strength of the newly generated fuzzy rules, and judging to obtain the output weight values; designing a fuzzy rule interpolation estimator by combining the initial fuzzy rules and the newly generated fuzzy rules by interpolation. The present invention is used to realize the estimation of unknown terms in the modeling of flying robots.

The application discloses a kind of line driving soft robot modeling methods based on physical information neural network, measure and record the external force suffered by line driving soft robot, obtain the space-time coordinates of line driving soft robot, under the premise that internal force is difficult to analyze in system model, utilize the data-driven method based on physical information, according to the partial differential equation containing the physical information of model, the external force and the space-time coordinate data of suffered force, the preset physical information neural network model is trained, and the estimated value of the space-time coordinates, internal force, internal moment, velocity, angular velocity of line driving soft robot is obtained;According to the actual value of space-time coordinates, internal force, internal moment, velocity, angular velocity, unknown parameter obtained by experiment and the estimated value obtained by model training, a loss estimation function is obtained, and the accuracy of modeling is detected. Using known model physical information, under the premise that internal force and other data of line driving soft robot are difficult to measure, the space-time modeling of line driving soft robot is realized.

The application provides a robot full-flexible rigid-flexible coupling parameterized modeling method and system, and belongs to the technical field of robot modeling; the method first establishes a full-flexible kinematic model containing base, joint and flexible deformation of a connecting rod based on MDH flexible expansion parameters, in combination with a floating coordinate method, a finite element method and a Rayleigh beam model; secondly, velocity and acceleration of key nodes and any point of the flexible connecting rod are recursively calculated; thirdly, local dynamic equations of each lumped mass component and distributed mass component are constructed based on a virtual power principle, and are converted to a generalized coordinate space through a generalized Jacobian matrix; and finally, a unified robot rigid-flexible coupling dynamic equation is assembled. The application realizes high efficiency and automation of the modeling process, improves the accuracy of the model in describing dynamic characteristics of the robot, and provides an accurate basic model for high-precision dynamic analysis and control of the robot.

A parallel robot modeling method considering omni-directional motion errors of flexible joints comprises the steps that S1, the output pose of the tail end of a mechanism is defined, and a kinematic model of a robot is established based on a closed-loop vector method; s2, flexible joint output poses are constructed in combination with motion variables of the flexible joints, wherein the motion variables comprise the displacement amount and the rotation angle amount of the flexible joints in the non-functional direction; s3, establishing a local coordinate system in each flexible joint and each moving joint in the branch chains, and constructing homogeneous coordinate transformation matrixes and a transfer relation among the matrixes; s4, the mapping relation between the motion variables of all the flexible joints and the tail end output poses is constructed; s5, constructing a force and moment balance equation of the movable platform in the branched chain, the flexible joints and the movable joints; s6, all the equations are combined, and the tail end output pose of the mechanism is solved. According to the method, the motion error of the flexible joint in the non-functional direction is considered, the robot model with higher precision is established, and the operation precision and reliability of the robot are ensured.

Computer-implemented methods and systems are provided for adjusting a robot-centric data format to a building-centric data format to represent a robot. The building-centric data format represents the robot with a plurality of links representing non-deformable components of the robot and a plurality of joints describing relationships between the links. The method comprises the following steps: extracting robot information from the robot-centered data format; creating a robot container to model the robot as an unitary-partial structure; converting the plurality of links and the plurality of joints from the robot-centered data format to the building-centered data format on the basis of the extracted robot information; filling the robotic container with the transformed links and the transformed joints; and constructing the building-centric data format using the robotic container filled with the transformed links and the transformed joints.

The invention discloses a robot inverse kinematics experiment teaching method and device, a storage medium and a program product. The method comprises the following steps that 1, the structure and parameters of a robot are analyzed; 2, drawing a robot model sketch according to the structure and parameters of the robot; step 3, setting a robot joint coordinate system according to the robot model sketch; 4, according to the robot joint coordinate system, robot DH parameters are solved; carrying out DH parameter judgment, and if the DH parameter is correct, carrying out the next step; otherwise, repeating the steps 1 to 4; 5, robot modeling is carried out according to the solved DH parameters; step 6, setting a motion path of an end effector of the robot; 7, discretely generating a motion track in the Matlab; 8, according to an inverse kinematics equation, solving joint parameters corresponding to the discretized motion trail; 9, robot joint parameters are output; robot joint parameters are judged, and if the joint parameters are correct, the next step is carried out; otherwise, repeating the steps 8 to 9; 10, a robot controller is read, and joint parameters are input; step 11, controlling the robot to run on line, judging a running track, and if the running track is the same as a set track, completing the experiment; otherwise, repeating the steps 7 to 11. According to the method, the inverse kinematics solution and verification experiment of robotics can be conveniently carried out.

The invention provides computer-implemented method and system for mediating a robot-centric data schema to a building-centric data schema for representing a robot is provided. The building-centric data schema represents the robot with a plurality links representing non-deformable parts of the robot and a plurality of joints describing relationship between the links. The method comprises: extracting robot information from the robot-centric data schema; creating a robot container to model the robot as a whole-part structure; translating the plurality of links and the plurality of joints from the robot-centric data schema to the building-centric data schema based on the extracted robot information; filling the robot container with the translated links and translated joints; and constructing the building-centric data schema with the robot container filled with the translated links and translated joints.

The invention discloses an unmanned aerial vehicle agile flight control system and method based on a differentiable physical simulator, and the method comprises the steps: defining a robot navigation task as an optimization problem at an offline stage, and enabling a robot to be modeled as a discrete time dynamic system with a continuous state and a control input space; the method comprises the following steps: constructing a lightweight strategy neural network adopting a convolutional recurrent neural network (CRNN) structure and a differentiable physical simulator, and carrying out back propagation on flight path loss to train a strategy network; and deploying the trained lightweight strategy neural network on the unmanned aerial vehicle in the online stage so as to realize autonomous flight control. According to the method, the differentiability of a physical system is utilized, the neural network controller is directly optimized through back propagation of the loss gradient, the training efficiency and the neural network optimization effect can be remarkably improved, and flexible expansion can be achieved to solve 20 m / s high-speed obstacle avoidance, dynamic environment obstacle avoidance and communication-free cluster self-organizing navigation tasks of a single-machine forest.

The invention discloses a robot distributed control method and system based on a fluid dynamics principle, and the method comprises the steps: obtaining the image information of a target region, extracting the contour of a target pattern, and constructing a truncated signed distance field to generate target guide potential energy; the robot is uniformly divided into a plurality of sub-regions for initial deployment; all the robots are modeled as particle elements, and interaction force between the robots is constructed through a smoothed particle fluid mechanics method; a distributed control strategy is designed for each robot, the control input of the distributed control strategy is the sum of target guiding force and interaction force, and meanwhile damping control is combined to stabilize system response; in the control process, as the robots enter the target area, the target guiding force is gradually attenuated to zero, only the interaction force between the robots is reserved, and therefore automatic construction of the target pattern is achieved. According to the invention, a completely distributed pattern construction and space regulation and control strategy is realized, and the method has good expansibility, adaptive ability and control stability.

The application relates to the technical field of robot modeling, and provides a robot URDF model construction method and device, electronic equipment and a storage medium. The method comprises the following steps: receiving a task description input by a user; clarifying and optimizing the task description to generate an optimized task description; performing semantic analysis on the optimized task description to extract task requirement parameters; selecting multiple candidate components from a robot component library based on the task requirement parameters; performing cross-domain compatibility pre-verification on the selected candidate components before the selected candidate components are combined; combining the candidate components that have passed the cross-domain compatibility pre-verification according to combination constraints between the components to generate multiple candidate URDF models; and evaluating the candidate URDF models based on the task requirement parameters and in combination with a Pareto frontier surface to obtain an optimal URDF model and output the optimal URDF model. The technical scheme significantly reduces the threshold of robot modeling and improves the matching efficiency of the model and the task.