472 results about "Robot motion control" patented technology

The invention relates to a motion control method of a lower limb rehabilitative robot. In the method, aiming at different rehabilitation stages of a patient, two working modes of passive training and active training are carried out: under the mode of passive training, the patient is driven by controlling the robot to finish specific motions or motion according to a right physiological gait track; abnormal motions of the patient are completely restrained; and the patient passively follows the robot to do walking rehabilitation training; under the mode of active training, limited abnormal motions of the patient are restrained by the robot; through a real-time detection on joint driving forces generated when the patient acts on the robot in the motion process, human-computer interaction moment is extracted by utilizing an inverse dynamic model to judge the active motion intention of lower limbs of the patient; and the interaction moment is converted into correction value of gait track by utilizing an impedance controller to directly correct or generate the gait training track the patient expects through an adaptive controller, therefore, the purpose that the robot can provide auxiliary force and resistant force for the rehabilitation training can be indirectly realized. By means of the motion control method of the lower limb rehabilitative robot, rehabilitation training motions suitable for different rehabilitation stages can be provided for a dysbasia patient, thereby enhancing active participation degree of the rehabilitation training of the patient, building confidence of the rehabilitation and positivity of the motion, and then enhancing effect of the rehabilitation training.

The invention discloses a control system for a transformer substation patrol robot. The control system comprises a core processor, an information collection module, a communication module, a robot motion control module, an analysis module and a navigation system module; the core processor comprises a GPU and an ARM processor, the information collection module is used for collecting related information of robot patrolling, the communication module is used for transmitting the related information of robot patrolling and related operation instruction information of workers, the robot motion control module is in data connection with the ARM processor and used for controlling walking of the robot, the analysis module is in bidirectional data connection with the GPU and used for automatically recognizing whether equipment is abnormal or not according to the collected image information, the navigation system module is in bidirectional data connection with the ARM processor and used for positioning the position of the robot in real time and planning the optimal path according to a patrolling task. The control system can accurately navigate and position the robot, collect the working state of electric equipment and return the equipment state and the working state of a robot body to a control center in real time.

The invention discloses a robot motion control system, relates to the technical field of robot motion control, and aims to solve the problems of poor universality, poor extensibility and poor system openness existing in the existing robot motion control system. A control terminal subsystem comprises a human-computer interaction interface and a working thread module; a server terminal subsystem comprises an instruction interpreter, a server and an interaction module; a user transmits an operation instruction through the human-computer interaction interface; the operation instruction is converted into an instruction which can be recognized by the instruction interpreter by using the working thread module and is transferred to the instruction interpreter through network; the instruction interpreter is used for converting the received instruction into a joint path command by calling MoveIt ! and releasing on a node of an ROS (Read Only Storage) server; a PMAC (Programmable Multi Axis Controller) interconnection module receives the joint path command from the ROS server and converts into a motion control instruction through a PMAC communication protocol and transfers to PMAC through network. The system has higher modularization degree and extremely strong universality and can be compatible with various multi-degree-of-freedom series robots.

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 a method for achieving industrial robot off-line programming based on three-dimensional modeling software. The principle of the method is that a three-dimensional modeling software application programming interface (API) which is suitable for COM or object linking and embedding (OLE) and the like is used in the three-dimensional modeling software environment, model and space matrix data in the three-dimensional modeling software are obtained, a robot virtual body model and a mathematical model are built, and a virtual robot motion control system is realized; discretization from a curve to a point is conducted through obtained space line data, and therefore a motion trail of a robot is generated, actual robot operation is simulated; and an industrial robot controller operational procedure generating module is built, an actual controller executable file is generated and lead out so as to be operated in an actual robot controller, and industrial robot off-line programming can be achieved. The method can achieve off-line programming operation rapidly and generate optimal gesture of corresponding points automatically, time for generating training data is short, and a space curve trail can be achieved conveniently and rapidly, wherein a basis of the space curve trail is difficult to find in reality to conduct teaching.

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 rope-driven parallel robot motion control method in consideration of elasticity effect and compensation, and relates to a robot. The method comprises the steps of constructing a system dynamic equation for rope pull optimization and controller design; optimizing rope pull distribution according to an expected moving platform motion track based on the system dynamic equation and a constraint condition by adopting a rope pull dynamic optimization model taking maximum rigidity weight as a target function, and calculating the deformation; analyzing a moving platform pose error caused by elastic deformation of a pull rope via kinematic forward analysis according to the actual rope length and the deformation; acquiring the actual motion state of a visual measurement moving platform, and taking the deviation between the actual motion state and the expected motion state as a control quantity; designing a controller; and calculating a control drive torque instruction according to the designed controller, and finally controlling the motion track of the moving platform and the pull of the rope, thereby meeting the requirement of the working condition.

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 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 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.

A dynamics-based motion generation apparatus includes: a dynamics model conversion unit for automatically converting character model data into dynamics model data of a character to be subjected to a dynamics simulation; a dynamics model control unit for modifying the dynamics model data and adding or modifying an environment model; a dynamics motion conversion unit for automatically converting reference motion data of the character, which has been created by using the character model data, into dynamics motion data through the dynamics simulation by referring to the dynamics model data and the environment model; and a motion editing unit for editing the reference motion data to decrease a gap between reference motion data and dynamics motion data. The apparatus further includes a robot motion control unit for controlling a robot by inputting preset torque values to related joint motors of the robot by referring to the dynamics motion data.

The invention provides a programming and compiling design method in a robot graphical programming system. According to robot motion control features, character codes are packaged into a graphical control form to be provided for a user, so that programming difficulty is lowered greatly and programming efficiency is improved; in a compiler syntactic analysis phase, a preliminary inference model is used for syntactic analysis, and accordingly, predictive query times are decreased, part of time required by syntax production type analysis is saved, quick analysis on a character string syntactic structure is achieved and compiling efficiency is improved; a mono operating environment is used as the back end of a compiler, so that architectures of a front end and the back end of the complier are independent relatively, and high expansibility and portability are achieved.

The invention relates to a mobile robot self-charging system comprising a main control board, a robot controller, a power supply module, a power monitoring module, a drive control module, a sensor board, a laser sensor, and an infrared sensor. The power monitoring module acquires power information of the power supply module. The robot controller controls the laser sensor to acquire a pulse signal containing charging station position information according to the power information. The main control board establishes a first travel path trajectory according to the pulse signal. The sensor board collects an infrared signal acquired by the infrared sensor. The main control board corrects the first travel path trajectory according to the infrared signal to obtain a second travel path trajectory. The mobile robot self-charging system provided by the invention is an intelligent mobile robot self-charging system composed of a laser scanning modeling technology, an infrared positioning technology and a robot motion control technology. The defect of sole dependence on the laser or infrared technology is overcome. The reliability and accuracy of robot self-charging are improved.

An intelligent control system of a magnetic navigation polling robot relates to a robot used for polling operation of a transformer substation. The system is characterized in that a database storage system, a man-machine interactive system and a robot moving control system are combined to form a control center which controls the robot to conduct polling and detecting through a wireless communication system, finally an intelligent collection system transmits detected data information back to the control center through the wireless communication system, wherein the database storage system, the robot moving control system, the wireless communication system and the intelligent collection system are combined to achieve the intelligent control system of the robot. The polling robot can replace manpower to finish polling operation of high voltage power transformation equipment of the transformer substation. The robot adopts magnetic navigation with the navigation accuracy within 5mm. The system adopts a crawler-type walking structure, has strong adhesion to the ground and can walk stably on the ground covered with snow just like walking on the ground.

The invention discloses a lower limbs rehabilitation robot movement control system which comprises a passive training mode and an active training mode these two working modes according to different rehabilitation effects at different restoration stages of a patient, wherein in the passive training mode, the patient is driven by mechanical legs to move according to a predetermined physiological gait trajectory, the generated abnormal movement is completely inhibited; in the active training mode, limited abnormal movement of the patient is inhibited by the mechanical legs, the joint driving force generated by the action of the patient on the mechanical legs is extracted by a man-machine inverse dynamics model through real-time detection of man-machine interaction, the active movement intent of the patient is acquired, so that the patient can initiatively adjust the gait trajectory in real time, and the enthusiasm of the patients initiatively participating in the rehabilitation training is improved. The lower limbs rehabilitation robot movement control system is suitable for the lower limbs rehabilitation training movement at different restoration stages, enhances the initiative of patients participating in the rehabilitation training, and establishes the rehabilitation confidence and the movement enthusiasm of the patients, so as to enhance the effect of rehabilitation training.

The invention discloses an automatic high-precision indoor rapid positioning method. A positioning system comprises a hardware system and a software system, the hardware system comprises a color image acquisition apparatus, a laser speckle projection apparatus, a laser speckle image acquisition apparatus, a holder control apparatus, a communication apparatus, and a central control apparatus, and the software system comprises a laser speckle projection system, a color image and laser speckle image acquisition system, an image processing system, an image matching system, a mode recognition system, a holder control system, a central control system, and a path planning and control system. According to the scheme of the method, software and hardware are combined, an indoor positioning device accomplishes intelligence and systematization of the whole process of personal/household service robot characteristic information acquisition and input, indoor object image acquisition and matching recognition, indoor object positioning, path planning, and robot motion control, and methods of indoor positioning and path planning and control are more accurate and efficient.

The invention discloses a general calculation method for inverse kinematics of serial robots. The general calculation method comprises the following steps of classifying and simplifying a plurality of types of robot moving joints to establish a uniform robot moving joint kinematic model; performing two-dimensional processing on robot working configuration according to a planar processing method, classifying and dividing formed planar configurations on the basis and respectively establishing automatic planar configuration working space calculation methods; and performing configuration plane matching on any robot configuration to solve the inverse kinematics of the serial robots. The method overcomes the defects of the limitation and specificity for solving the robot configuration by the traditional analytic method, and solves the problems of non-instantaneity and low accuracy of a general iterative method, can quickly and accurately solve the inverse kinematics of the robots, and meets the requirement for calculating the general robot kinematics and the actual requirement on robot motion control.

The present invention relates to a method for controlling motions of a robot using evolutionary computation, the method including constructing a database by collecting patterns of human motion, evolving the database using a genetic operator that is based upon PCA and dynamics-based optimization, and creating motion of a robot in real time using the evolved database. According to the present invention, with the evolved database, a robot may learn human motions and control optimized motions in real time.

The invention discloses a two-wheeled self-balancing robot control method based on a Kinect device, and relates to the field of robot control. The two-wheeled self-balancing robot control method is particularly applied to a two-wheeled self-balancing robot motion control and man-machine interactive system. According to the two-wheeled self-balancing robot control method, a system of controlling a motion behavior of a two-wheeled self-balancing robot by using a natural gesture of the human is designed by using a Kinect sensor and a DTW gesture recognition algorithm. The system comprises an image acquiring module, an image processing module, a wireless communication module, a motion control module and a motion executing module. Particularly, the Kinect sensor and the DTW gesture recognition algorithm are used on the basis of designing a system control method, so that natural interactive control of the human and the two-wheeled self-balancing robot is realized. The two-wheeled self-balancing robot control method has good robustness and fault tolerance.

The invention discloses an image-vision-based automatic calibration method of a clean robot. The automatic calibration method comprises the following steps: a, placing a robot to be calibrated below a camera to enable an original point of a robot body coordinate system to be radiated by laser; b, acquiring the position of an optical center of the laser transmitted by a laser transmitter; c, acquiring a position transformational matrix T between the original point of the optical center of the laser and the robot body coordinate system; d, operating the mechanical arm of the robot, and acquiring the position of a farthest end point of a tray; e, calculating deviation between each practical moment and a design value; and f, converting the deviation into the robot body coordinate system through the position transformational matrix T, and recording the converted deviation data into a robot motion control module. When the automatic calibration method is used, the measurement precision can be 0.2 mm, and the accurate calibration of the mechanical arm is realized; and in addition, the automation degree is high, the measurement and the calibration are completely accomplished by a computer and are finally stored in the robot motion control module.

A path programming method for a plane redundancy robot to avoid obstacles and avoid singularities relates to the field of robot motion control, and especially relates to a plane redundancy robot to avoid obstacles and avoid singularities. The invention aims to solve problems that risk of hurting working personnel by existing plane redundancy robots exists in a cooperation process and the speed of joints will exceed a robot allowance scope when the end of the robot moves to a singular position. The method of the invention is carried out according to the following steps: the method of the invention relates to threads which are carried out simultaneously: the first thread relates to several steps of path programming to avoid obstacles; and the second thread relates to various steps of path programming to avoid singularities. The method of the invention ca simultaneously complete the path programming method of obstacle avoidance and singularity avoidance, so that in a cooperation process, collaborator avoidance can be completed, and avoiding of singular configuration of the robot can also be realized to reduce risks of man-machine cooperation and raise the assembling quality. The method of the invention can be applied to the field of robot motion control.

The motion controller for modular embedded polypod robot includes one PC module, one robot body controlling module and foot unit controlling modules separately located in the feet. The PC module distinguishes the environment the robot is in, determines the next action of the robot and transmits the data to the robot body controlling module. The robot body controlling module processes the data into specific motion data, and dispenses the specific motion data via the robot data bus to the foot unit controlling modules. The present invention adopts hierarchical control mode comprising data operation layer based on PC, robot control layer with ARM processor as control core and great memory space, and joint control layer. The present invention can realize the off-line motion of robot and the seamless connection to PC for on-line debugging of robot.

The invention relates to a quadruped robot control method and control device on the basis of a sine opposite angle gait and a quick table look-up method. The method comprises the following steps that: (1) combining with the opposite angle gait to analyze the leg structure of a quadruped robot, establishing the leg movement mathematical model of the quadruped robot, and adopting a novel sine gait; (2) solving a nonlinear equation set to obtain the control rate of each joint of four limbs, establishing a database which specially faces robot movement control, obtaining an accurate joint opening and closing angle through the quick table look-up method, and quickly and accurately realizing foot end trajectory control; and (3) designing a foot end trajectory control unit and a steering control unit so as to bring convenience to the access of other control systems. On an aspect of trafficability characteristics, the novel sine gait is designed and adopted, and therefore, and the robot owns high trafficability when the robot faces a complex terrain. On the aspect of operation stability, when a step taking period stops, the horizontal speed of a swing phase is zero, and therefore, the method is high in stability. The table look-up method is adopted to quickly, accurately and stably carry out the foot end trajectory control.