42 results about "Robotic control" patented technology

A system has a virtual-world (VW) controller and a physical-world (PW) controller. The pairing of a PW element with a VW element establishes them as corresponding physical and virtual twins. The VW controller and / or the PW controller receives measurements from one or more sensors characterizing aspects of the physical world, the VW controller generates the virtual twin, and the VW controller and / or the PW controller generates commands for one or more actuators affecting aspects of the physical world. To coordinate the corresponding virtual and physical twins, (i) the VW controller controls the virtual twin based on the physical twin or (ii) the PW controller controls the physical twin based on the virtual twin. Depending on the operating mode, one of the VW and PW controllers is a master controller, and the other is a slave controller, where the virtual and physical twins are both controlled based on one of VW or PW forces.

This utility model relates to the field of bearing manufacturing technology, specifically a positioning and adjustment device for a robot control box. It includes a base plate, a robot control box mounted on the base plate, and a positioning and adjustment mechanism mounted on the base plate and acting on the robot control box. The positioning and adjustment mechanism includes an L-shaped support frame, a first sliding rod, and a positioning frame. The L-shaped support frame is located on one side of the base plate. The first sliding rod is mounted on the robot control box and slides in cooperation with the vertical side of the L-shaped support frame. The positioning frame slides vertically on the horizontal side of the L-shaped support frame. The bottom of the robot control box slides in cooperation with the base plate. Symmetrical positioning holes are provided on both the bottom of the robot control box and the base plate. Pushing the first sliding rod until the positioning hole on the robot control box aligns with the positioning hole on the base plate, the positioning rod re-inserts into the positioning hole under the action of a second spring. At this time, both the first and second springs extend, and the positioning rod positions the robot control box on the base plate.

A software-defined network card hardware function configuration method is disclosed.The application discloses an industrial manipulator grabbing system and method based on FPGA and visual AI.The system integrates an industrial camera, an FPGA heterogeneous computing platform and a manipulator controller.The PS end of the FPGA platform is responsible for image acquisition and communication, and the PL end completes the whole process of image preprocessing, AI target detection and coordinate calculation in parallel through a hardware image preprocessing pipeline, a deep learning processing unit (NPU) IP core and post-processing logic.The application solidifies the complete visual AI processing flow in the FPGA hardware, realizes ultra-low delay and high-deterministic processing performance, effectively solves the problems of high delay and large jitter of the traditional industrial computer scheme, and is particularly suitable for high-speed and high-precision industrial automation grabbing scenes.

The application relates to a mechanical hand control dispensing field, and discloses a feature recognition guide mechanical hand dispensing method, a computing device and a storage medium, the method comprises the following steps: recognizing a fiber coupler part feature according to a camera shooting tool plate image; when the part feature is identified as a taper area, a shearing pipe opening or a glass pipe opening, adjusting a light source according to a preset light adjustment condition corresponding to the taper area, the shearing pipe opening or the glass pipe opening, shooting a part image through the camera, and recognizing pixel coordinates of the taper area, the shearing pipe opening or the glass pipe opening according to the image; calculating dispensing coordinates of a mechanical hand according to the pixel coordinates of the taper area center, the pixel coordinates of the shearing pipe opening and the pixel coordinates of the glass pipe opening; and dispensing at the dispensing coordinate point through the mechanical hand control dispensing machine, the application adjusts the light source and the camera parameter matched with different part features of the coupler based on different part features, accurately recognizes the coordinates of the different part features, calculates the accurate dispensing coordinates of the mechanical hand, and improves the dispensing accuracy and the dispensing efficiency.

This invention discloses a method and apparatus for preventing accidental contact during substrate adsorption in an ion implanter, comprising: a substrate position scanning device for scanning a wafer cassette and acquiring substrate position information; a robotic arm controller connected to the substrate position scanning device; a robotic arm with a substrate adsorption device at its end, the drive unit of the robotic arm being connected to the robotic arm controller; a wafer identification device connected to the robotic arm controller for determining whether the substrate adsorption device has successfully adsorbed the substrate; and an anti-accidental contact detection sensor built into the front end of the robotic arm for real-time acquisition of detection data and transmission to the robotic arm controller; wherein the robotic arm controller is configured to: receive the detection data transmitted by the anti-accidental contact detection sensor; determine in real-time whether there is a risk of accidental contact between the substrate and the robotic arm through a preset algorithm; and immediately control the robotic arm to stop moving when a risk is determined to exist.

Applications of robotics applied to patch-panels and cross-connects to improve operational processes within data centers and communications networks. Systems and architectures to perform frequent, accurate and low-cost reconfigurations and measurements of the physical network are described, thereby eliminating labor and time delays when completing routine tasks such physical network provisioning and reconfiguration.

This application relates to the field of robot control technology, and discloses a robot control method, system, and related equipment based on a multi-order differential tracker. The method includes: acquiring discrete trajectory points through a controller according to a preset control cycle; determining step points by reading the flag bits of the discrete trajectory points; calculating velocity and acceleration based on adjacent discrete trajectory points for non-step points; updating the discrete trajectory points by limiting the velocity or acceleration when it exceeds limits; initial tracking of the target position by a position differential tracker based on the discrete trajectory points; correction of the error between the target position and the robot's current position acquired by the controller by an error differential tracker, and outputting a control trajectory; merging the target position tracking output and the error tracking output to complete aliasing when a step point or error exceeds a threshold; and smoothing the generated control trajectory by a moving average filter. This method improves the robot's motion control accuracy, response speed, and system robustness, can predict the target trajectory with low trajectory lag, and generates a smooth trajectory.

This invention discloses a control system for an automated live-line working equipment manipulator, comprising: a manipulator body and control components; the manipulator body includes: a first ring-holding cylinder, a second ring-holding cylinder, a first clamping cylinder, and a second clamping cylinder; the first and second ring-holding cylinders are used to connect a pair of ring-holding manipulators, and the first and second clamping cylinders are used to connect a pair of clamping manipulators; the control components include: a first three-position four-way explosion-proof solenoid valve, a second two-position three-way explosion-proof solenoid valve, a second three-position four-way explosion-proof solenoid valve, a first balance valve, a first accumulator, a third three-position four-way explosion-proof solenoid valve, a second balance valve, and a second accumulator. This invention enables the automatic grabbing, conveying, and wellhead centering of the working tubing under unmanned operation conditions at the wellhead, solving the safety risks associated with traditional live-line working equipment requiring operators to be concentrated above the wellhead, effectively improving the equipment's operational efficiency and inherent safety.

This invention relates to the field of robotic arm control technology, specifically a control system and method for a chemical emergency robotic arm based on intelligent perception. The system includes: a data acquisition unit for collecting environmental data from a chemical scenario and obtaining an initial depth image of the target area of ​​the chemical equipment to be operated; performing multi-sensor fusion processing on the environmental data and the initial depth image to obtain corresponding gas concentration information, obstacle location information, and image data of the target area; and a hazard assessment unit for inputting the gas concentration information, obstacle location information, and the current posture information of the robotic arm into a hazard assessment model to obtain the corresponding operational hazard level and the distance to the nearest obstacle. This invention uses a target recognition model to accurately obtain the location information of the target area and combines this with data such as the operational hazard level and obstacle location information to generate obstacle avoidance paths and operational instructions. This enables the robotic arm to intelligently avoid obstacles in complex environments while ensuring smooth operation.

This invention relates to the field of robotic arm control technology and discloses a dynamic control method for the safe operating distance of a robotic arm based on radio frequency electromagnetic wave sensing and real-time decision-making. The method includes: acquiring real-time dynamic state data of the robotic arm's end effector and the straight-line distance to the nearest obstacle; constructing a dynamic safe braking distance model based on the dynamic state data; calculating a dynamic safety threshold matching the current motion state; calculating the spatial margin between the obstacle's straight-line distance and the dynamic safety threshold; and performing hierarchical decision-making control based on the interval of the spatial margin. This invention calculates the dynamic safety threshold using a dynamic safe braking distance model, eliminating the risk of false triggering and collisions caused by fixed thresholds. Furthermore, it replaces the traditional rigid emergency stop with a multi-level compliant avoidance strategy using hierarchical decision-making control, thereby maximizing the stable operation of production equipment while balancing operational efficiency and safety.

The application discloses a kind of car light assembly automatic measuring equipment and its measuring method, the measuring equipment includes rack, rack lower part is equipped with detection table, upper part is equipped with manipulator, industrial computer display and man-machine interface, the upper part of detection table is equipped with positioning mechanism, the upper part of positioning mechanism is equipped with automatic code scanner and detection position confirmation mechanism, the inside of detection table is equipped with PLC, industrial computer and manipulator controller, the head of manipulator is equipped with space coordinate point confirmation rod and laser measuring head, manipulator and manipulator controller communication, manipulator controller and PLC are connected, PLC and man-machine interface, positioning mechanism, automatic code scanner, industrial computer and laser measuring head are connected, industrial computer display and industrial computer are connected.The measuring method is based on the above measuring equipment.The advantages of the application: manpower resources can be saved, only one person can complete the whole measurement operation;Measurement speed is fast, work efficiency is high, and measurement data error rate caused by human factors can be avoided.

This invention relates to the technical field of robotic arms, proposing an ore-grabbing robotic arm, a control system, and a control method. The ore-grabbing robotic arm includes a moving device, a crossbeam base, a binocular camera, a sliding beam, a sliding beam drive component, a steering base, a steering drive component, a spacing slide, a spacing drive component, a lifting slide, a lifting drive component, a gripper mounting base, a gripper rotation drive component, a gripper camera, a mechanical gripper, a gripper drive component, and a control processor. By preprocessing the ore images captured by the binocular camera and establishing ore point clouds, followed by filtering and recognition, calculation and planning are performed to generate a gripping scheme. The optimal gripping scheme is obtained through scoring and optimization, and then the mechanical gripper is driven to operate. The feedback from the gripper camera is incorporated into the closed-loop control. The overall structure has higher ore-grabbing efficiency, and the optimal gripping scheme obtained through analysis provides more stable and reliable ore gripping.

The application provides a wafer position calibration device of a vertical furnace and a calibration method thereof, which comprises: a wafer boat for carrying wafers; a detection device comprising a first circular slide rail, a plurality of first guide rods, a plurality of first sliding blocks and a plurality of wafer detection units; each first guide rod is slidably assembled on the first circular slide rail in a circumferential direction; each first sliding block is slidably assembled on the corresponding first guide rod in an axial direction; an adjusting device comprising a second circular slide rail, a second guide rod, a second sliding block and a mechanical hand; a control system configured to receive position information collected by each layer wafer detection unit, calculate the offset of each layer wafer relative to the center of the wafer boat, and drive the mechanical hand to rise to the corresponding height of the wafer to be adjusted and adjust the position according to the offset. By introducing the cooperative control mechanism of "multi-point synchronous detection-wafer offset real-time calculation-deviation wafer targeted calibration", the position of the wafer in the wafer boat can be calibrated in situ.

This application discloses a robotic arm control method, device, and electronic device. The method includes: acquiring a first task; determining a first neural network based on the first task, wherein the control unit of the robotic arm is configured with multiple pre-trained neural networks, and the first neural network is the neural network matched with the first task; reconstructing the first task using the first neural network to obtain a control strategy for the reconstructed first task, the control strategy including a series of basic control instructions; acquiring control parameters for controlling the robotic arm based on the control strategy; and controlling the robotic arm to perform control actions according to the control parameters, the control parameters including parameters corresponding to the basic control instructions. Since this method utilizes a neural network configured in the robotic arm control unit to achieve spatial position control, it can well adapt to application scenarios without network connectivity and does not require additional computing resources from the control unit itself.

The present application relates to bone nail positioning and robot control method, system, electronic equipment and storage medium, relates to the field of information technology, including the following steps: obtaining 3D point cloud data containing bone nail through 3D camera; processing 3D point cloud data, identifying the three-dimensional space coordinates of each bone nail, and calculating the XYZ space coordinates of each group of bone nails with 6 to 9 bone nails as a group; the XYZ space coordinates of each group of bone nails are transmitted to the robot control device; the robot collaborative arm continuously moves according to the XYZ space coordinates, the industrial camera on the robot collaborative arm shoots 6 to 9 bone nails at a time, and all bone nail groups in the whole nail box are shot in turn through continuous movement; image recognition and OCR recognition are carried out on the image obtained by the industrial camera, and the digital information on each bone nail and the total number of bone nails are extracted. The present application solves the problems of low efficiency and easy error of traditional manual operation through automatic detection and operation process, and significantly improves the automation level, accuracy and efficiency of orthopedic surgery preparation.

A system and method by which a catheter tube may be automatically driven to a target location within the body of a subject, such as an enteral cavity or respiratory tract of the subject. The catheter tube may include an imaging device, a transceiver, a spectrometer, and a battery embedded in a tube wall at a distal end of the catheter tube. The imaging device may capture image data of structures proximal to the distal end of the catheter tube. An articulated stylet may be inserted in the catheter tube, which may be controlled by a robotic control engine according to navigation data generated by an artificial intelligence (AI) model based on the topographical image data. The spectrometer may sample and identify biomarkers proximal to the catheter tube. A remote computer may implement the robotic control engine and AI model and may wirelessly receive the image data from the transceiver.

1. Name of the product in this design: Mechanical Control Arm (Intelligent Manufacturing Engineering). 2. Purpose of this design: For controlling mechanical equipment. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The application belongs to the technical field of robots, and discloses a teleoperation robot control method and system with self-adaptive admittance and force feedback, which comprises the following steps: 1. loading preset parameters, and moving a main arm to an initial calibration pose; 2. reading an original operator force vector and an original environment contact force vector to perform digital filtering; 3. calculating a self-adaptive parameter matrix in parallel; 4. solving a current period main arm desired end speed, performing safety limiting processing on components, reading a current actual end pose of the main arm, converting the limited desired speed into a next period main arm target pose, and sending a target joint angle instruction obtained by solving to the main arm; and 5. reading actual joint angles of the main arm in real time and sending the actual joint angles to a slave arm. The method improves the operation intuitiveness, task adaptability and human-computer interaction safety of the system.

The application provides an intelligent mechanical hand system and method for automobile assembly. A state feature vector set in a mechanical hand assembly process is obtained through multi-source assembly state data, an assembly task state segmentation model is constructed based on the state feature vector set, and then the current automobile assembly process is mapped to an assembly process stage sequence, and corresponding process requirement weight parameters are configured for each stage. A parameter mapping matrix is established according to the assembly process stage sequence, and then an adjustment factor of the joint motion parameters of the mechanical hand is generated. The joint motion of the mechanical hand is adjusted in real time according to the adjustment factor, and then a process stage deviation root cause analysis result is obtained, and the assembly task state segmentation model is updated synchronously. Based on the updated assembly task state segmentation model, the mechanical hand control parameters of the next assembly cycle are output. By adopting the scheme, adaptive control transformation of the mechanical hand action from fixed trajectory control to process stage adaptive driving can be realized in a dynamically changing automobile assembly environment.

A robot control system comprising circuitry configured to acquire a designated area image showing a designated area, and execute image analysis on the designated area image to detect a current state of the designated area as a current area state. The circuitry is further configured to generate, based on the current area state, a state of the designated area which simulates one or more objects including an additional object as having been placed in the designated area, as a predicted area state. The circuitry is further configured to generate object information on the additional object which is simulated in the designated area, based on the predicted area state. The circuitry is further configured to control a robot so as to physically place the additional object in the designated area in accordance with the object information.

The application discloses an automatic safety inspection equipment, relates to the field of inspection equipment, and comprises a frame body, an insulation voltage control cabinet and a mechanical hand control cabinet are fixedly installed on one side of the frame body, an entrance safety grating is arranged on the top of the frame body, a human work area safety grating is fixedly installed on one side of the frame body, and a tool plate RFID reader for reading data is fixedly installed on the inner wall of the top of the frame body. The mechanical hand control cabinet is used for controlling the starting of the mechanical hand component, the mechanical hand component is used for grabbing the electronic product to be detected, the insulation voltage self-checking fixture is used for monitoring the voltage resistance of the electronic product, and the electronic product is comprehensively detected through the grounding self-checking fixture, the insulation voltage fixture and the detection camera, so that the staff can not monitor the electronic product in sequence, and therefore, the detection efficiency and accuracy can be improved, and the labor cost can be reduced.

This invention discloses a dynamic control method and system for a robotic arm based on 3D vision, belonging to the field of robotic arm control technology. The method includes: acquiring 3D visual image data and real-time operating speed of the target scene; performing clustering and conservative dynamic window filtering to obtain a preliminary set of objects; performing image segmentation on the preliminary set of objects, extracting visual geometric features and business attribute features, inputting them into a grasping time prediction model to obtain a predicted grasping time; determining a differentiated dynamic grasping window based on the predicted grasping time and real-time operating speed, performing a secondary filtering on the preliminary set of objects to obtain a refined set of objects; traversing the refined set of objects, calculating stability factors, efficiency factors, and priority factors to obtain priority evaluation results, and controlling the robotic arm to perform grasping. This invention, through multi-level filtering and multi-feature fusion decision-making, achieves intelligent optimization and efficient and stable grasping of grasping targets in dynamic and complex environments, improving the system's adaptability and operational efficiency.

Devices, systems, and methods herein are generally directed to a robotic control system that comprises: a wearable robot comprising at least one actuated joint; at least one muscle-tendon interface configured to measure at least one physiological signal; a torque set point processor configured to receive the at least one physiological signal from the at least one muscle tendon interface and estimate a muscle-tendon state corresponding to a human motor intention and to compute at least one augmentation joint torque based on the muscle-tendon state; and a torque controller configured to apply the at least one augmentation joint torque to the at least one actuated joint of the wearable robot.

The application relates to the technical field of robots, and provides a multi-degree-of-freedom bionic manipulator control method. The method first establishes a kinematics model and a dynamics relationship of the bionic manipulator, and on this basis, a multi-modal training and real-time control method for a 20-degree-of-freedom bionic manipulator is provided. The method comprehensively utilizes three heterogeneous sensing modalities of inertial measurement, computer vision and surface electromyography to synchronously perceive the hand movement intention of a human operator, and realizes fusion regression of multi-source information based on a deep neural network to output target control instructions of joints of the manipulator. In the training stage, an inertial measurement system is used to provide high-precision joint angle true values; in the deployment stage, vision and surface electromyography are mainly used as network inputs, and real-time closed-loop control is realized in combination with feedback at the manipulator end, so that high-precision control of the multi-degree-of-freedom bionic manipulator is realized.

This invention claims protection for a device and method for testing grinding discs under various working conditions. The device includes a robotic arm, a drive motor, a fixture, and a material control mechanism. The end effector of the robotic arm is connected to the drive motor to control its posture. The drive motor is connected to the fixture to connect the grinding disc to be tested and to drive the grinding disc to generate different rotational speeds. The material control mechanism is connected to the material to be ground, which is cylindrical. The material control mechanism controls the rotation of the material about its axis, and the robotic arm controls the grinding disc to perform grinding tests on the annular end face of the material. This application uses a robotic arm to control the pressure, angle, and simulate human hand movements of the grinding disc acting on the material, making it easier to simulate manual grinding conditions. By using the forward and reverse rotation of the cylindrical material instead of the reciprocating motion of the grinding disc, the volume of the grinding material used is smaller, and the entire testing device occupies a smaller area.

This invention relates to a robot control system, method, and medium for automated surgical instrument placement. The system includes: a surgical scheduling parsing and preference list management module for generating an instrument requirement list; an instrument and ward mapping management module for querying ward information based on the instrument requirement list to obtain basic data for the placement and retrieval paths; a visual recognition and grasping target planning module for acquiring images of the target ward area, obtaining target detection and instance segmentation results, and combining them with camera calibration information to obtain the grasping point pose; a force control and grasping execution control module for generating motion trajectories, adjusting force control during the grasping process, generating task space correction values, and fusing them with the motion trajectory to form a complete force control and grasping process; and a tray layout and placement process control module for combining the instrument target positions with the complete force control and grasping process to form a placement process. Compared with existing technologies, this invention has advantages such as improved placement efficiency.

This invention provides a multimodal knowledge generation and annotation method, robot control method, system, and medium, comprising: parameterizing different structures of an object using digital genes to obtain a digital gene object representation; and transferring the knowledge annotations defined in the digital genes to the object. This invention, by using a digital gene-based object representation method, can significantly improve the knowledge annotation efficiency of existing 3D objects, increasing it by more than 60%. Furthermore, by using a digital gene-based object representation method, this invention can rapidly synthesize an unlimited number of new objects with knowledge annotations based on existing 3D objects, correspondingly reducing the cost of acquiring digital assets by approximately infinitely much. Using the newly generated objects to train neural networks can improve the effectiveness of knowledge annotation in fields such as computer vision and robot manipulation.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.

This application relates to the field of automatic weighing technology, specifically to a high-precision fully automatic electronic scale testing system. The system includes an automatic height measurement module and a control module. The automatic height measurement module includes an infrared ranging device, a temperature and humidity sensor, a microprocessor unit, and a data transmission unit configured at the end of a robotic arm. It is used to acquire the compensated height value of the electronic scale pan relative to the calibration platform in real time before placing weights and transmit this value to the control module. The compensated height value is obtained by analyzing the characteristics of the original measurement value calculated from all reflected signals received during the infrared ranging device's height measurement of the electronic scale. The control module is used to issue control commands to the robotic arm based on the compensated height value, controlling the robotic arm to place weights after reaching the target height. This application aims to improve the accuracy of fully automatic electronic scale testing.

A robotic control system may be configured to translate a first set of location coordinates based on a first location numbering system to a second set of location coordinates based on a unified location numbering system. A robotic control system may receive layout data of a warehouse, the layout data containing a plurality of location coordinates of racks and storage locations. The location coordinates may be of a first format based on the first location numbering system that is specific to the warehouse. The robotic control system may analyze the format of the location coordinates to select, from a plurality of candidate conversion algorithms, a suitable conversion algorithm to translate the plurality of location coordinates of the first format to a second format based on the unified numbering system. The robotic control system may store the translated location coordinates for use in generating a topometric map of the warehouse.