451 results about "Robot trajectory" patented technology

Embodiments generally provide an apparatus and method for processing substrates using a multi-chamber processing system (e.g., a cluster tool) that has an increased system throughput, increased system reliability, substrates processed in the cluster tool have a more repeatable wafer history. In one embodiment, non-orthogonal robot trajectories are used to assure reliable and high speed substrate transfer. In another embodiment, at least one buffering station is used to avoid collision and improve throughput. In another embodiment, optimal positioning of the robots are used to improve throughput.

The invention relates to the technical field of mobile robot navigation and discloses a mobile robot cascading map building method based on remarkable scenic spot detection. The mobile robot cascading map building method comprises the steps of: 1) according to image data collected by a mobile robot sensor, carrying out on-line detection on a road sign of a natural scene corresponding to a remarkable scene so as to generate a topological node in a global map; 2) updating the pose of a mobile robot and a local grid map; and 3) building a global topological map structure by taking a remarkable scenic spot as the topological node, and optimizing the topological structure by introducing a weighted scanning and matching method and a relaxation method on the basis of the closed detection of trajectory of the robot to ensure the global consistency of the topological map. The mobile robot cascading map building method is applicable to the autonomous path planning and navigation application for various mobile robots in large indoor environment ranges such as a plurality of rooms and corridors.

A surgical alignment device is shown that is controlled remotely through the use of an actuator, where the actuator in turn controls at least one local adjustment device. The alignment device is suited for neurosurgery, although it is not exclusively limited to neurosurgery. The alignment device includes an insertion guide that is coupled to the local adjustment device, the insertion guide being used to guide a device such as a catheter into a patient. The alignment device may also be coupled to a control module such as a microcomputer that controls the orientation of the insertion guide in response to inputs from the surgeon as to a location of interest within the patient.

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 error-controllable industrial robot fairing movement track generation method which comprises the following steps: S1, generating an MOVEB movement instruction, describing an industrial robot movement track which comprises a track point and posture, a track point error threshold input by a user, and a chord height error threshold; S2, performing interpolation on a robot track point, namely performing interpolation on a high-order B sample curve into the track point according to the track point error and the chord height error threshold by using the high-order B sample interpolation algorithm, and respectively achieving G2 interpolation and G3 interpolation of the robot track point, so as to obtain an interpolation track which has high continuity and meets the track point error and chord height error requirements; S3, performing interpolation on the posture of the robot so as to obtain a robot posture curve with sectional G2 and continuous G3; S4, acquiring a movement track of the robot after interpolation according to the track point interpolation curve and the robot posture curve. By adopting the error-controllable industrial robot fairing movement track generation method, real-time continuous interpolation of the movement track can be achieved, calculation can be simple, efficient and precise, and vibration and abrasion of the robot can be reduced.

The invention discloses a mixed control method based on trace tracking of a wheeled mobile robot. A kinematic virtual velocity controller, a sliding mode torque controller and a disturbance observer are involved in the mixed control method, wherein the sliding mode torque controller and the disturbance observer are based on dynamics. The virtual velocity controller is used for designing the linear velocity and the angular velocity of the robot; the sliding mode torque controller is used for designing a sliding mode face and a sliding mode control law, and the disturbance observer is used for observation of the external disturbance of a system to reduce the control quantity of the sliding mode controller and is introduced as a feedforward term. By means of the mixed control method, control over the trace tracking of the robot is achieved by the system under the condition that external change and external disturbance happen to a parameter. It is shown upon simulation experiments that by means of the mixed control method, chatter output by sliding mode control and output of the control quantity can be effectively reduced, and good robustness is achieved.

The invention discloses a planning method for the smooth trajectory of a robot in Cartesian space. The planning method comprises the following process: planning the positions and postures of single-section trajectories, such as a spatial line and an arc; carrying out planning on the smooth transition of a path; controlling the size of the transition region of the path by adopting a transition grade; fitting the path in the transition region by adopting a parabola, and fitting the postures by adopting a quaternion algorithm; and adopting a cycloidal acceleration and deceleration planning method containing acceleration and an acceleration restraint to carry out planning on the spatial trajectory of the path so as to obtain the smooth spatial position and posture trajectory of a robot. The method can effectively solve robot trajectory problems, such as pause, non-smoothness, dithering, path deviation and speed excess and improve the running stability of the robot. The planning method for the smooth trajectory, related to the invention, has certain flexibility, and not only can plan the positions and the postures in the Cartesian space but also can adapt to various robot structures, containing common 6-degree-of-freedom vertical joint mechanical arms, low-degree-of-freedom robots and redundant robots.

Embodiments generally provide an apparatus and method for processing substrates using a multi-chamber processing system (e.g., a cluster tool) that has an increased system throughput, increased system reliability, substrates processed in the cluster tool have a more repeatable wafer history. In one embodiment, non-orthogonal robot trajectories are used to assure reliable and high speed substrate transfer. In another embodiment, at least one buffering station is used to avoid collision and improve throughput. In another embodiment, optimal positioning of the robots are used to improve throughput.

The present invention discloses a robot trace tracking control method and system. The method comprises the following steps of: the step S100: establishing a dynamical model of an N-degree-of-freedom rigid robotic system; the step S200: according to dynamic characteristics of the robotic system, performing linearization of the dynamical model of the robotic system along an expected trace; and the step S300: taking expected joint angle and joint angular speed of the robotic system as reference input of a robustness adaptive iteration learning controller, taking actual joint angle and joint angular speed of the robotic system as actual input of the controller, generating tracking errors between the actual input and the reference input, and gradually decreasing the tracking errors through iteration calculation of the controller. The robot trace tracking control method and system can perform tracking control of a robot of uncertainty modeling and random disturbance, can improve the rate ofconvergence and the control precision of tracking control and can meet the requirement of the work speed and the precision of the robot.

An operation instruction list including starting points and ending points of trajectories of a plurality of robot arms is generated (a trajectory definition data generation process). Order of generation of trajectories is determined in accordance with the operation instruction list (a generation order determination process). A trajectory of a specific robot arm included in the operation instruction list is generated in accordance with a starting point and an ending point such that the trajectory avoids obstacle spaces registered in the obstacle memory when trajectories of other robot arms are generated (a trajectory generation process). A sweeping space in which a structure of the arm sweeps when the robot arm is operated along the generated trajectory is added to the obstacle memory as an obstacle space to be avoided by the other robot arm (an obstacle registration process).

The invention provides a positioning and navigation method of a robot based on inertial navigation and a two-dimensional code. The method comprises the following steps: a robot starts from an initial position and moves to a target position; in the motion process, a robot inertial measurement device continuously measures course angle and speed of the robot, and calculates motion track of the robot and corrects the driving direction of the robot; the robot scans a two-dimensional code picture on the ground, reads position information in the two-dimensional code and determines the current position of the robot; according to the inertial measurement device and two-dimensional code information, the track path of the robot is corrected and the moving path of the robot is determined; and the robot reaches the target position. The method realizes a function of determining the position and course of the robot through inertial navigation and the two-dimensional code, thereby reducing position error and enabling the robot to reach the target position quickly.

A method for controlling the trajectory of a robot, in which, in the cooperative operation of a leading robot having a work tool and a tracking robot gripping a workpiece, the position and the orientation of the work tool may be desirably controlled, even when the interpolative motion is carried out. The robots are cooperatively controlled such that the position and the orientation of a first tool coordinate system set on the work tool attached to the leading robot is moved along a desired trajectory on a second tool coordinate system set on the workpiece gripped by the tracking robot. During a playback operation after a teaching operation, the interpolative position data of the tracking robot is calculated by using the interpolative position data of the leading robot and the relative positions and the relative orientations data of the robots. The invention may be applied to a manual feed. The trajectory may be smoothed by filtering the interpolative position data.

The invention relates to a robot welding line deviation compensation method based on arc oscillation welding line tracking, comprising the steps of: 1, detecting a welding current, sampling, filtering collected welding current data; 2, extracting deviation of the filtered current data, fitting a deviation direction, extracting according to an integral differential method, obtaining a compensation dosage and a transverse deviation value of a height deviation direction; 3, storing the transverse deviation value, adjusting the sensitivity; 4, computing a compensation dosage of the deviation by combining with the transverse deviation value and the sensitivity; 5, updating and accumulating deviation compensation dosages along the height direction and the transverse direction; 6, converting a three-dimensional compensation dosage into interpolation points of x axis, y axis and z axis; and 7, sending the compensated interpolation points to a control part of the robot. The invention can not generate jump change aiming at the compensation dosages, can ensure the stability of the system at a certain degree, and has better molding of a welding line subjected to the deviation compensation and tracking error of generally within + / -mm.

The invention relates to the control of trajectory tracking of omni-directional mobile robots. In order to realize the precise control of the omni-directional mobile robot under the condition that theuncertainty of a dynamic model and the external disturbance exist simultaneously, and avoid the inversion operation, the technical solution adopted by the present invention is that: the omni-directional mobile robot trajectory tracking auto-disturbance control method uses an optimized reduced-order extended state observer to estimate the total disturbance of the omnidirectional mobile robot system, including unmodeled parts, parameter uncertainties and external disturbances, and uses a passive controller designed based on passive characteristics of the omnidirectional mobile robot system to compensate the disturbance estimated by the observer to achieve trajectory tracking control; the extended state observer actively takes the disturbance information from the input and output signals ofa controlled object to eliminate interference with control signals before the disturbance affects the system. The invention is mainly applied to the trajectory tracking and control of mobile robots.

The invention relates to a B spline track planning method of a robot joint space guided by vision, which comprises the following steps: firstly, a 2-DOF (degree of freedom) robot is arranged in a stereoscopic support, an industrial camera is arranged at the front end of the stereoscopic support, and the moving direction of a conveyor belt is perpendicular to the moving plane of the 2-DOF robot; secondly, after the industrial camera obtains a first track point on the conveyor belt, a B spline curve is constructed according to the obtained time node sequence of joints within the time the 2-DOF robot moves to the first track point; thirdly, the constructed B spline curve is prolonged by adding a node vector and a control vertex to allow the B spline curve to go through an added joint position point; and fourthly, a position point on the B spline curve is calculated by adopting a De Boor recursive algorithm, so as to drive the 2-DOF robot to move. The B spline track planning method can realize smooth movement of the robot guided by the vision, and improve the track following precision of the robot.

The embodiment of the invention discloses a neural network adaptive robust trajectory tracking method and a controller applied to the technical field of robot trajectory tracking control, so as to solve the problems of poor stability and poor control effects of the prior robot trajectory tracking control technology. The method comprises steps: a proportion-derivative (PD) controller is acquired, and according to the acquired PD controller, a nominal part of the trajectory tracking system is acquired; on the basis of a radial basis function neural network, uncertain items of the trajectory tracking system are acquired; an adaptive robust controller is acquired, and the uncertain items of the trajectory tracking system are adjusted via the adaptive robust controller; and according to the nominal part, the uncertain items and an uncertain upper limit value of the uncertain items, total control input is acquired, and according to the total control input, an actual output trajectory is acquired.

The invention discloses an SCARA robot trajectory tracking control method based on prediction indirect iterative learning. Aiming at the problem that users are not allowed to compensate torque signals output by a servo drive of an alternating-current motor under most conditions in actual engineering, the SCARA robot trajectory tracking control method based on prediction indirect iterative learning is proposed. Firstly, a double-closed loop feedback controller directly acted on a robot body is designed, and includes a P type position closed loop and a PI type speed closed loop; and then, a prediction iterative learning controller (A-ILC) with a feedforward effect is designed, and a control effect at the sampling time t in next operation is adjusted by using error output information at the sampling time t+delta in previous operation batches. Compared with a proportional differential iterative learning controller (PD-ILC), the A-ILC is faster in iterative convergence speed and higher in tracking precision; and compared with an A-ILC without the feedforward effect, the A-ILC with the feedforward effect can eliminate external disturbance more quickly and effectively.

The invention discloses a precise polishing robot system for large-caliber complex optical lenses. The precise polishing robot system comprises an optical lens polishing robot module, a sensor module, a signal processing computer module and an active compliance control module. The polishing robot integrates a processing part, and the active compliance control module controls the rotation speed of a polishing disc and trajectories of the polishing robot. An error curved surface adaptive trajectory planning module of the signal processing computer module enables removed curved surfaces to be close to error curved surfaces as much as possible, and accordingly, the convergence rate is improved effectively. The precise polishing robot system has the advantages of high integration level and convergence speed.

The invention discloses an error-controllable short line segment trajectory smoothing method which comprises the following steps of 1, pretreating robot trajectory points: traversing all trajectory points of a whole trajectory, segmenting according to the distances and the inclined angles between the trajectory points, and dividing the whole trajectory into a plurality of broken line segment sets;and 2, smoothing the trajectory points: traversing the broken line segment sets generated in the step 1, and calculating the smoothing trajectory of each broken line segment according to a trajectorypoint error threshold value, a chord height error threshold value, a continuity requirement and a smoothing requirement. According to the method, the short line segment trajectory is smoothed to generate a smoothed trajectory meeting the continuity requirement, the shape-preserving requirement and the error requirement, so that the working efficiency and the working quality in application of a numerical control machining robot or an industrial robot are improved; a smoothing curve is applied to requirements for different continuity and executing efficiency; and compared with a conventional transition method, the smoothing curve can control the errors of the trajectory points, and achieves the interpolation effect, thereby retaining the characteristics of the trajectory points.

The invention discloses a three-dimensional vision accurate guiding and positioning method for automobile intelligent manufacturing automatic feeding. A camera is used for conducting photographing and image collecting on a component, and the position and the angle deviation of the component under a fixed coordinate system are calculated through image processing and in combination with the vision detection algorithm; and a robot is used for transmitting the position and angle information, the track of the robot is corrected, the robot is guided to arrive at the correct work position, and accordingly the robot automatically corrects the track for workpiece grabbing and feeding. According to the three-dimensional vision accurate guiding and positioning method, the component grabbing precision is high, the precision can reach + / -0.5 mm, accurate positioning on a material box is not needed, and the cost and maintaining expense for accurately positioning the material box are omitted; and the later maintaining and adjusting technology is facilitated.

The invention discloses a multi-joint robot track planning method under constraint of a safety space and belongs to the technical field of robot track planning. The method comprises the following steps that (1) the safety space is set; (2) manual demonstration is conducted; (3) interference checking is conducted; and (4) motor execution is conducted. By means of the multi-joint robot track planning method under constraint of the safety space, the number of demonstration points is reduced to a great extent, so that the task load of demonstration work is relieved, the manual demonstration efficiency is improved, and meanwhile the interference problem caused by an uncertain middle path of point-to-point motion is avoided.

The invention relates to the field of robot trajectory planning, and provides a smooth transition method of multi-space trajectory planning of a teaching robot, aiming at solving the unsmooth problemin the trajectory switching process. The smooth transition method comprises the steps that a teaching program of the teaching robot is analyzed, the switching direction of the trajectory planning is judged, if the trajectory planning is that the switching direction is from cartesian space to joint space, a tail end of cartesian space trajectory planning is acquired, according to the requirements on a path and a velocity, a first posture and a first velocity at the tail end are acquired, first angular velocities of various joints are obtained by employing a jacobi matrix, and by taking an angleindicated by the first posture as a starting angle and the first angular velocities as starting velocities, joint space trajectory planning is carried out; or else, a starting point of the cartesianspace trajectory planning is acquired, a second posture at the starting point and second angular velocities of the various joints are obtained, and by taking an angle indicated by the second posture as a terminal angle and the second angular velocities as terminal velocities, the joint space trajectory planning is carried out. Smooth transition of the trajectory planning in space switching is realized.

A system and process is provided for controlling a robot path of a robot including providing a main path for movement of the robot based on path data having points along the main path and providing a safe evacuation path from each point in the main path to get to a safe position. The main path is formed with safety evacuation path considerations in mind such that along any point on ride path the robot can be safely moved to a safety point or to the unload position or safe position.

The invention relates to a tracking measuring method for track errors of a robot. The tracking measuring method can be used for measuring whole-course or local maximum movement errors of the robot as follows: if movement errors within a certain period of time or whole-course maximum movement errors of the robot need to be measured, a version imaging system is used for acquiring an actual movement track of the robot end throughout the whole course and an academic track generated by a track generator in real time in a movement process of the robot; and the two tracks are compared, so that the movement errors within certain period of time or the whole-course maximum movement errors of the robot can be obtained. The measuring method can be used for measuring movement errors of a key discrete point in the movement process of the robot as follows: in the movement process of the robot, the robot is controlled to stop movement on certain key point; the version imaging system is used for acquiring coordinates of an actual spatial point at this moment of the robot, and coordinates, generated by the track generator, of an academic spatial point in real time; and a distance between the points is calculated, so that the movement errors, at the key discrete point, of the robot can be obtained. The tracking measuring method is adopted for carrying out real-time error measurement on the movement track of the robot end in the movement process of the robot.

A program changing device includes a sequence interchanging unit for interchanging plural teaching points in a teaching sequence such that total movement time of a robot becomes smaller than that when the robot is moved in line with an initial teaching sequence of the teaching points, a calculating unit for calculating difference amounts between the initial teaching points and a trajectory of the robot that is obtained by executing an after-interchanged operational program by simulation, a position adjusting unit for adjusting positions of the teaching points of the after-interchanged operational program until the difference amounts become equal to or smaller than a predetermined allowable value, and a teaching point changing unit for changing the adjusted teaching points to be the initial teaching points when cycle time of the after-interchanged operational program including the adjusted teaching points is longer than initial cycle time.

The invention discloses a visual guidance method applicable to an automobile door automatic assembling process. The method comprises the steps that positioning points on automobile bodies and automobile doors are selected according to different automobile type characteristics, and standard data of coordinates of the positioning points in the automobile door assembling process are recorded at first; in the practical process of guiding a robot for assembling the automobile doors, structural light images of the corresponding positioning points on the to-be-assembled automobile bodies and automobile doors are shot through a visual sensor, positioning point coordinate calculation of practical automobile body and automobile door positions is carried out according to the structural light three-dimensional measuring principle, robot track correction is carried out by comparing the standard data, and the automobile door guide assembling process is completed. By means of the method, automobile door assembling errors are reduced, the accurate and intelligent robot assembling process is achieved, and the gap uniformity precision of + / -0.3mm can be achieved.

The invention discloses a trajectory tracking control method of a three-joint spot welding robot. The trajectory tracking control method comprises the steps of 1) establishing a mathematical model of a three-joint spot welding robot system, wherein in practical engineering, an accurate mathematical model is quite difficult to obtain, so that when establishing the mathematical model of the spot welding robot, an operator needs to perform reasonable approximate treatment on the spot welding robot and ignore some indeterminate factors, and dynamic modeling is carried out on the horizontal three-joint spot welding robot through utilizing the Lagrange method; and 2) designing an expanded state observer, wherein through adopting the expanded state observer, indeterminate dynamic states can be adopted as part of the total disturbance for estimation. According to the trajectory tracking control method, decoupling control can be effectively carried out on multi-joint spot welding robots, and the method has quite high restraining ability for indeterminacy of multi-joint robots, internal and external disturbance of the system, and indeterminacy of the model.

A method for robot trajectory generation with continuous acceleration, Receiving a user's motion command through a motion command interface, and sending the user's motion command to Cartesian trajectory generator; Converting the user's command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity's limit value and an acceleration's limit value of each robot joint stored in a robot parameter database respectively.

The invention discloses a robot high-speed high-precision motion trajectory planning method and device, equipment and a medium. The method comprises the following steps that the motion parameters of arobot are optimized and solved in the parameter space through time optimal trajectory planning, and an original motion trajectory expressed in the parameter space is obtained; a vibration signal of the robot is analyzed, modal parameters are calculated, and an input shaper is designed; the compensation coefficient is calculated to accelerate the original motion trajectory according to the delay time of the input shaper; input shaping is performed on the accelerated new motion trajectory through the input shaper in the parameter space; the shaped parameter sequence is substituted into a robotinverse kinematics model to solve to obtain a motion trajectory of each joint of the robot, and the motion trajectory of each joint of the robot serves as the reference input of a robot controller torealize high-speed high-precision motion of the robot. According to the robot high-speed high-precision motion trajectory planning method and device, the equipment and the medium, the advantages of time optimal trajectory planning and input shaping are fully combined, the robot high-speed high-precision motion trajectory planning method and device, the equipment and the medium are applied to robottrajectory planning, and high-speed high-precision motion of the robot is realized.

A method for planning trajectories of an industrial robot based on NC (numerical control) codes relates to a robot trajectory planning method, in particular to a robot trajectory planning method using universal NC codes as a working language. In order to overcome complexity and non-universality of traditional robot working languages, the NC codes are used as the working language to realize basic functions of the industrial robot, such as carving, painting and the like. The concept of 'vertical tool' is adopted so as to quickly convert each NC code into inverse solution required parameters for the robot. Cubic-quintic compound interpolation is used to plan a continuous trajectory for the robot, and an accurate trajectory is obtained.