914 results about "Robot motion" patented technology

A temporal controller for mobile robot path planning includes a sensor module for receiving data corresponding to spatial locations of at least one object, and a temporal control module operatively coupled to the sensor module, the temporal control module configured to predict future locations of the at least one object based on data received by the sensor module. The controller further includes a temporal simulation module operatively coupled to the temporal control module, wherein the temporal simulation module configured to use the predicted future locations of the at least one object to simulate multiple robot motion hypothesis for object avoidance and trajectory planning.

The present invention relates to a wearable robot system for rehabilitation training of the upper limbs that has an improved structure to reproduce in detail motion of a human body by selecting a wearing type structure such that robot links move correspondingly to the motion of the upper limbs while decreasing the volume of a rehabilitation and assistance device based on a robot for rehabilitation training of the upper limbs. According the present invention, it is possible to decrease the volume and increase the available space, in addition to creating smooth motion without interfering with the human body by creating a plurality of robot motion paths and selecting the best path from them, because an operation of four degrees of freedom can be achieved by an operation procedure using redundant.

The invention provides a method for collaborative mapping and locating of multiple robots for a large-scale environment. The method comprises a single-robot laser SLAM algorithm based on a visual detection closed loop, a multi-robot pose constraint estimation algorithm and a multi-robot map fusion algorithm, wherein according to the single-robot laser SLAM algorithm based on the visual detection closed loop, a visual sensor is adopted for assisting a laser sensor in achieving the SLAM algorithm with the more stable roughness. Simultaneous locating and mapping of the multiple robots are achieved through the laser sensor and the visual sensor. The closed loop is detected by obtaining the visual characteristic of the roughness through a camera, and the problem about closed loop detection caused by the robot motion accelerative error is solved effectively; meanwhile through a multi-robot system, simultaneous locating and mapping in the large regional environment are completed efficiently, and the defect that the efficiency is low by means of a single robot is overcome. By the adoption of the method, the precise robot location and map creation of the environment are achieved in the large-scale environment, and the method is also suitable for small-scale environments.

The invention provides a mobile robot formation control method based on leader-follow. The method is formed by a global positioning system, a wireless communication system, an algorithm processing system, and a speed control system. The global positioning system obtains the pose information of each robot and sends the pose information to an arithmetic processing system through a wireless communication system, and the formation motion control is finally realized through the information interaction with the speed control system. In a control algorithm, firstly a leader-follow formation motion model is established, a follow robot motion control rate is given, then a follow robot trajectory prediction model is established, a nonlinear least squares method prediction model is employed, a prediction model parameter is optimized by using an improved particle swarm algorithm, a communication data abnormal range is defined, and a prediction point is started to substitute an abnormal point so as to ensure formation motion. According to the method, the prediction model is introduced, the formation order deviation phenomenon caused by temporary communication abnormality, the reliability of follow robot motion is ensured, and the stability of the formation is greatly improved.

The invention discloses an offline programming and modifying method of a six-axis grinding and polishing industrial robot. The offline programming and modifying method particularly includes the steps of building a model, extracting workpiece machining path information, performing point data processing, generating a robot working motion joint angle, generating a robot working motion trail, performing robot grinding and polishing working motion simulation, generating a robot motion key parameter conversion module and a code, modifying the position of an abrasive belt, modifying the position, posture and singularity and modifying the grinding and polishing work environment. The offline programming and modifying method enables the offline programming process of the six-axis grinding and polishing industrial robot to be simplified, has practicability, can quickly generate programs applicable to the six-axis grinding and polishing industrial robot which grinds and polishes workpieces with complex surfaces, and improves the grinding and polishing uniformity.

A method, system and a computer program product for accurately predicting an output motion from a database of motion data based upon an input motion scenario are provided. A motion database is searched to find relevant existing motions. The selected motions, referred to as “root motions,” most likely do not meet exactly the input motion scenario, and therefore, they need to be modified by an algorithm. This algorithm derives a parametric representation of possible variants of the root motion in a GMP-like manner, and adjusts the parameter values such that the new modified motion satisfies the input motion scenario, while retaining the root motion's overall angular movement pattern and inter-joint coordination. The embodiment of the invention can accurately predict various human motions with errors comparable to the inherent variability in human motions when repeated under identical task conditions. The motions may be human or non-human such as other living creatures or robot motions.

The invention relates to a planning method for a simulated path of a robot under a complex dynamic scene and a robot motion planning simulation platform for achieving the method. According to the method, path security evaluation criteria are established according to a collision possibility and an arrival possibility, an algorithm framework for planning two layers of interactive paths is adopted, motion planning is divided into an environment exploration layer and a partial path planning layer, the two layers perform information interaction by means of a self-adaptive path buffering area, and a security update search tree is taken as a top planner and applied to the environment exploration layer in the two-layer interactive framework. The simulation platform comprises a problem module, a planning module and an execution module. A safe and real-time path planning scheme is provided according to a path planning strategy selected by simulating a human path, the defect that only the feasibility of the path is considered but the continuity of the path is not concerned in the prior art is overcome, and the motion planning of the robot in a complex dynamic environment is realized.

3-D models of various types of objects such as a robot body, and a peripheral equipment, a machine, a part (workpiece), of the robot, are stored in an object library in advance. Dimension line data of an edge line of which dimension can be changed, and constraint condition for constraining coordinate positions of apexes which can be changed are also stored in the object library. A model having the shape corresponding to the shape of the object to be used is selected from the object library, and the dimension of the shape is set. The dimension of the selected model is modified so that the shape of the model corresponds to the shape of the actual object. Using the model of which dimension was adjusted, animation motion of the robot is formed on a display screen. With the above arrangement, it is possible to easily set and change object 3-D models relating to a robot motion.

The invention discloses a master-slave teleoperation industrial robot system and a control method thereof. The system comprises a master robot, a master-slave control system connected with the master robot, and a slave robot connected with the control system, wherein the master robot comprises force feedback equipment; an operator transmits a master robot motion command to the slave robot through the master-slave control system, the slave robot moves with the master robot, further accomplishes the operation to a task object, and simultaneously feeds back task state to the operator. The system designs a main-slave motion mapping strategy by analyzing geometrical structures of a master manipulator and a slave manipulator, adopts a master-slave control algorithm based on an inverse jacobian matrix, eliminates a master-slave position following error through a proportional-derivative control link, and designs a low-pass digital filter to filter the vibration of hands, so as to eliminate the influence on the precision of a surgical robot by the vibration of the hands of the operator.

The invention discloses a robot accuracy compensation method synthesizing a pose error model and rigidity compensation. The method comprises the following steps: step 1, establishing a robot motion model according to structural parameter of a robot; step 2, establishing a robot error model; step 3, in a robot working space, randomly giving a target pose point, and when a tail end of the robot moves a designated point, recording a joint angle at the moment; step 4, using a position measuring instrument to measure actual coordinates Pa of the given target pose point; step 5, using a least square method to recognize an error parameter; step 6, applying a load at the tail end of the robot, measuring the deformation amount of the robot, then returning to step 3, compensating a re-recognized structural error for the motion model again, thereby eliminating the pose error of the tail end due to the deformation caused by the load, and meanwhile, data of the deformation amount caused by the load is stored in a database for later accuracy compensation. According to the invention, the absolute positioning accuracy of the robot can be improved remarkably, and high simplicity and high efficiency are realized.

The invention relates to a robot motion estimation method based on dense optical flow. The method comprises the steps of calibrating inner parameters and outer parameters of a camera, collecting image sequences and conducting distortion correction, solving the dense optical flow through the polynomial expansion method, purifying light flow, conducting coordinate transformation between image coordinates and robot coordinates, and estimating the motion speed of a robot. The robot motion estimation method based on the dense optical flow solves the problems that in the prior art, motion estimation precision is not high, robustness is poor on the conditions that illumination is uneven and motion is vague, and the function of the camera is restricted. According to the robot motion estimation method based on dense optical flow, the dense optical flow algorithm based on polynomial reduction is introduced, so that the precision of motion estimation is improved. The RANSAC algorithm is applied to the optical flow purification process, so that the robustness of the algorithm is improved. The monocular camera is used, and a lens is arranged downwards in an inclined mode, so that a robot is made to detect the condition ahead in real time, and convenience is brought to completion of tasks such as avoiding barriers and planning paths.

The invention discloses a force-feedback-based robot micro-wound operation simulating system, and relates to a computer virtual simulation system which is designed, aiming at the research status of robot micro-wound operation and problems and defects of the existing simulation technology. A database module in the simulation system provided by the invention is used for storing original data of medical images, robot micro-wound operation equipment model data and motion constrain information; an image processing module is used for converting image data in the database module into three-dimensional volumetric data; a physical modeling module is used for constructing a geometrical model according to the three-dimensional volumetric data; a force feedback module is used for calculating the sizeand direction of feedback force according to the geometrical model and parameters output by a force feedback perception device, outputting the force feedback data to the force feedback perception device, so that operators can feel the force through the force feedback perception device; and a graph rendering module is used for acquiring rendered image information according to collision informationsent by the force feedback module and robot motion information sent by the database module and outputting the image information.

A robotic positioning system that cooperates with a sensing system to correct robot motion is provided. The sensing system is decoupled from the sensors used conventionally to control the robot's motion, thereby providing repeatable detection of the robot's true position. In one embodiment, the positioning system includes a robot, a controller, a motor sensor and a decoupled sensor. The robot has at least one motor for manipulating a linkage controlling the displacement of a substrate support coupled thereto. The motor sensor is provides the controller with motor actuation information utilized to move the substrate support. The decoupled sensor provides information indicative of the true position the substrate support that may be utilized to correct the robot's motion.

Provided are a robot motion track locating method and a robot motion track locating device. The robot motion track locating device comprises a robot controller, a pulse controller, an actuator, a motor and a robot body. The robot controller sends a command to the pulse controller. The pulse controller receives the command, and drives the actuator to control the motor to rotate. The pulse controller receives the number of command pulses of each period of the robot controller. S-shaped curve acceleration and deceleration is carried out by the pulse controller on a received position point to be used as a rough interpolation operation, positional values of continuous commands of each period of the robot controller are obtained, the speed when the robot body reaches each position point is obtained through a slope value between two adjacent points, and a speed section which the speed belongs to is confirmed on an S-shaped curve, i sections of variables are divided between two position points, a PVT space arc fine interpolation operation is carried out on each variable section, and a pulse output function in a DSP digital signal processor of the pulse controller is called to carry out pulse sending. The robot motion track locating method and the robot motion track locating device enable a robot to stably move, improve locating accuracy and speed responsiveness of a system, and save production cost of an enterprise.

The invention belongs to related technical field of intelligent sensing, and discloses a high-compliance method for guiding a robot to cooperatively work by people. The method comprises the followingsteps: (1) a human-computer cooperation system is provided; (2) the robot is towed for demonstration; a six-dimensional force sensor and a motor encoder of the human-computer cooperation system respectively measure information of force applied by operators and the angle and the angle speed of each joint of the robot; and a computer obtains the terminal speed and pose of the robot through robot kinematics calculation; and (3) the robot motion position and pose desired by the operators at the next time are predicted by adopting a sparse bayesian learning algorithm based on the information obtained in the step (2); and the torque of each joint is compensated through online adjustment of impedance parameters of an impedance controller according to the predicting result and design of a linear secondary adjuster. The method improves the compliance and the demonstration precision of the robot, and reduces the demonstration difficulty of the operators.

The invention relates to the technical field of intelligent patrol of transformer substations and discloses a positioning method and a positioning device for a patrol robot of a transformer substation. The positioning device comprises the following steps: (1) establishing a coordinate system; (2) calculating a positioning result of a speedometer; (3) calculating the pose of a movable robot; and (4) correcting a positioning result. The positioning device comprises a wheel type platform, a robot motion controller, encoders, a communication module, a camera and a cloud platform, wherein the wheel type platform is used for driving the robot to move, three all-directional wheels are mounted on the wheel type platform at equal intervals along the circumference, one encoder is mounted on each all-directional wheel, a support shaft is arranged at the bottom of the cloud platform and is fixedly mounted on the wheel type platform, and the camera is mounted on the top of the cloud platform. According to the positioning method and the positioning device, the encoders are combined with a QR code manner for positioning, so that the position of the movable robot can be still known when the QR code is shielded by obstacles. The patrol robot of the transformer substation can adopt the QR code positioning method in both the indoor and outdoor environments.

The present invention relates to a bionic robot movement structure capable of regulating four feet. It mainly includes top reference flat plate, four legs, four feet, driving device and sensing device, and is characterized by that on the top reference flat plate four symmetrical regulating grooves in which its four legs can be respectively moved are cut, between four legs and top reference flat plate the davit-mounting type structure is adopted, and the thighs and shanks can be respectively driven by their respective driving device and can be moved along their respective fulcrum. Said invention is simple in structure, and can have extensive application range.

The invention provides a pneumatic type soft motion robot based on an earthworm motion principle. The robot comprises a first body part, a second body part and a third body part, wherein the first body part is connected with the second body part through a first telescopic part, the second body part is connected with the third body part through a second telescopic part, and the first body part and the second body part are controlled by a controller arranged on the second body part to stretch and retract; and mechanical steel bristles are arranged at the lower portion of the first body part and the lower portion of the third body part. By the adoption of the robot, a robot motion model is established according to the earthworm motion mechanism, and through the mechanical steel bristles, pneumatic control replacement and simulation of stretching and retracting of transverse muscles and longitudinal muscles of an earthworm, the robot can conduct complex actions of walking straightly, making a turn, crossing an obstacle and the like in a severe environment. Through intelligent control, the robot can be used in industrial pipeline exploration and disaster search and rescue.

The invention discloses a method and a device for planning a robot time optimal trajectory based on a dynamic model. The method for planning the robot time optimal trajectory comprises the following steps: converting joint motion constraint and geometric path constraint to a parameter space through a robot motion trajectory predetermined by dynamics modeling and parameterization; taking shortest time as an objective structural optimization problem, and solving through a numerical integration method to obtain an optimal motion parameter of the robot; and carrying out spline curve smoothing on acceleration for three times on a phase plane by considering the problem of joint vibration caused by sudden change of the acceleration. Compared with the conventional trapezoid acceleration trajectoryplanning method, the motion parameter of the robot can be optimized under the joint motion constraint and the geometric path constraint; the high-speed motion of the robot can be achieved; the performance of a joint motor is fully used; the motion speed of the robot can be further improved; pitch time for executing tasks is reduced, so that the operation efficiency of the robot is improved; and the method and the device have great significance to improvement of overall performance of the robot.

The invention provides a programming and control system of a mobile phone to a robot. The programming and control system mainly has three functions of robot zero correction, robot motion editing, and robot state displaying and command receiving and sending. The programming and control system is mainly formed by a data communication module, a real-time monitoring module, a data displaying module, an action editing module, a protocol generating module and a movement control module. According to the programming and control module, cloud computing is used as a data storing and processing framework, data of all robots are stored and processed based on a Web public platform. The robot transmits the data to the internet through a Zigbee gateway through a Zigbee module. A could platform of the internet integrates robot data and provides an invoking interface for an upper layer, and is responsible for providing a human-computer interface for data displaying and command receiving and sending. A user only needs to use the mobile phone for logging in a corresponding website, and the three functions can be achieved.

The invention discloses an industrial robot space intersecting curve welding offline programming method. The method comprises the steps that firstly, an arc welding robot and a welding workpiece three-dimensional model are guided in, two peripheral hook faces of a welding line are formed through mouse pickup, a cut plane set is created inside a workpiece coordinate system, and node pose information of the welding line is extracted; according to the node pose, position and posture discretization are achieved along the curve of the welding line, and then welding line trajectory planning is achieved through coordinate conversion; then, a joint angle sequence needed in the robot motion process is obtained through robot inverse kinematics, and motion simulation is achieved; finally, according to language rules written by corresponding robot motion control program codes, a corresponding program file is generated. By adopting an open source VTK visual tool magazine, offline programming independent development is achieved, the method does not dependent on third party CAD software, the track of the welding line can be generated only through mouse picking, no complex external data computingor guiding-in process is needed, the man-machine interaction is good, and the needed robot program can be rapidly generated.

The invention discloses a robot off line programming system and method. The robot off line programming method includes: importing a robot kinematic constraint condition, a three-dimensional model of a working object of a robot, three-dimensional models of the robot and a tooling thereof into a robot three-dimensional virtual environment; performing curve discretization on extracted robot motion path graph primitives and pose information thereof, extracting path points, and generating a robot motion path; performing robot motion simulation and collision detection; modifying the path points according to a given definition on basis of the result of robot motion simulation and collision detection, generating a new robot motion path and pose, and displaying the new robot motion path and pose in an operation system; acquiring a feasibility result and generating a robot executable file; and communicating with the robot, importing the robot executable file into a robot controller, and realizing robot motion control. The robot off line programming system and method can effectively simplify operations, and improve the efficiency of robot programming work.

The invention discloses a visual-based man-machine safety system of an industrial mechanical arm. The visual-based man-machine safety system of the industrial mechanical arm comprises a moving object tracking module used for capturing spatial positions of all moments of a moving object, a robot movement visualization module used for acquiring robot joint information and carrying out 3D visualization on a robot, a collision detection module used for calculating the minimum distance between a robot 3D model and an operator in the environment, and a collision avoidance module used for planning and correcting the robot motion trajectory; firstly, a system extracts image information of the operator in the environment through two kinect cameras, and data fusion is performed; then a current state of the robot is obtained, and the 3D model of the environment where the robot is located is constructed; then a shaft alignment bounding box method is used for carrying out the collision detection on the operator and the robot; and finally, according to a collision detection result, an anti-collision module can give an alarm to the operator and stop the robot or modify the trajectory of the robot, so that the robot can far away from the operator who is approaching.

The invention relates to a RFID indoors positioning system belonging to the telecommunication technology field. The working process of the system in the invention comprises: arranging the RFID labels, which is used as positioning reference points, on the robot motion plane according to regular triangle inlaying mode; using a single chip microcomputer to control four RFID reader-writer to read information in the RFID labels; performing data processing, and positioning analysis provided in the invention to obtain the positioning information and positioning precision of the robot; computing and analyzing the theory position and positioning precision of the robot under constraints of different positioning information; evaluating the area made up by all the possible position of the equivalent positioning points under different conditions; and obtaining the theory position and the positioning precision of the robot according to the area. The scheme has the advantages of low cost, equipment generality, easily purchased, simple positioning principle and easily realized; is influenced by environment in low degree; is especially suitable for the indoors environment or poor light working environment, and has a wide application prospect.

The invention discloses an intelligent path planning method for a mobile robot, and the method comprises the steps: building a static two-dimensional grid map, and carrying out the global path planning through an improved ant colony algorithm; enabling the mobile robot sensor module to detect unknown obstacle information, calculating an obstacle motion trail and a robot motion trail, adopts an optimized dynamic window method to carry out local dynamic obstacle avoidance, and taking the current position of the robot as a starting point and a closest key node on a global planning path as a temporary target point to carry out dynamic obstacle avoidance; and enabling the robot to travel along the planned path and safely reach the destination. According to the method, the actual problems of static obstacles and dynamic obstacles in the map environment are comprehensively considered, the heuristic function of the ant colony algorithm is improved, pheromone updating rules are adjusted for global path planning, the optimized dynamic window method is adopted for obstacle avoidance when the robot encounters the dynamic obstacles in the running process, and local path planning is completed; and the robot has higher practicability and research value in actual map operation.

The invention belongs to the field of intelligent robots, particularly relates to a robot motion decision-making method, system and device introducing an emotion regulation and control mechanism, andaims to solve the problems of robot decision-making speed and learning efficiency. The method comprises the following steps: generating a predicted state value of a next moment according to a currentaction variable and a state value by utilizing an environmental perception model; updating state-based on action variables, state values, immediate rewards An action value function network; obtaininga prediction track based on an environmental perception model, calculating a local optimal solution of the prediction track, carrying out differential dynamic programming, and obtaining an optimal decision based on the model; acquiring a model-free decision based on a current state and strategy as well as minimized state-motion functions and based on the state prediction error, the reward prediction error and the average reward value, generating an emotion response signal through an emotion processing computable model, and selecting a path decision according to a threshold value of the signal.The decision-making speed is gradually increased while learning efficiency is ensured.

The invention discloses a robot motion path off-line programming method and system. Robot kinematics constraint conditions, a robot, a robot tooling three-dimensional model, a robot work object three-dimensional model and a numerical control code file are loaded in a robot three-dimensional virtual environment; Cartesian coordinate system path data of a robot work object are acquired through the numerical control code file, and the Cartesian coordinate system path data of the robot work object are converted into robot joint coordinate path data; robot motion path simulation is performed, the abnormal condition and security of the robot joint coordinate path data are detected, edited and modified, and the robot joint coordinate path data are converted into corresponding robot motion path programs on the condition that no abnormal condition occurs and the security meets the conditions. According to the robot motion path off-line programming method and system, robot complex motion curve path programming can be achieved, and the advantages of being easy to operate, high in working efficiency and the like are achieved.

The invention relates to a motion control method of a double-wheel differential type robot, which is technically characterized in that a body coordinate system xoy is established in the world coordinate system XOY by taking the geometric center of a robot as the origin of coordinates; and motion control method for the double-wheel differential type robot is based on kinematics, aims at the most fundamental and most important two motions among all the motions of the wheeled robot, i.e. the in-situ rotating motion and the moving-to-fixed-point motion of the wheeled robot, and realizes the control of the two motions. All the complicated motions of the double-wheel differential type robot can be composed of the two fundamental motions. By reasonably improving the linear speed function in the control method based on the error ratio and simultaneously combining the chord tangent method, the invention realizes the integrated control on the moving-to-fixed-point motion of the robot. The integrated control greatly gives play to the respective advantages of the two methods, and avoids the effects of the respective defects on the robot motion. The invention also provides a resolution strategy corresponding to the cyclic oscillation phenomenon.