13 results about "Straight line trajectory" patented technology

The embodiment of the invention provides a six-axis robot operation control method and device, a six-axis robot and a storage medium, and relates to the technical field of robot control. According to the method, when it is detected that tail end motion will pass through a singular area, a decoupling type mixed interpolation strategy is adopted, namely, joint group motion influencing the posture is independently planned, and position interpolation is combined, so that the problems of joint overspeed, overcurrent and motion out-of-control caused by a traditional posture joint interpolation method near a singular point are solved; and on the premise of ensuring that the tail end always strictly moves along the linear track of the target, small attitude deviation is reasonably sacrificed, the movement stability and system robustness of the robot when the robot passes through the singular area are improved, and continuous and controllable output of joint instructions is realized, so that the equipment safety and the process quality are guaranteed, and the method has good engineering application value.

The application provides a kayak athlete power output coordination control method, comprising: collecting the paddle water entry depth, the angle of attack deflection angle, the athlete power time and the hull acceleration, obtaining the complete record containing the paddle track arc and the hull acceleration change; according to the change of the straight line track and the arc track when the hull accelerates, the angle of attack deflection angle is extracted, the deviation degree of the angle of attack deflection angle and the effective propulsion angle range is evaluated, and the proportion of energy loss caused by the lateral component force under different deviation degrees is identified; according to the power output timing coordination score, the smoothness of the power transmission among the athlete, the paddle and the hull is analyzed, and the stability of the transmission efficiency in the acceleration stage is identified after removing the interference signal; according to the track optimization direction adjustment training system collection setting, the track optimization direction is returned to the collection density adjustment link, and the time interval setting of the next data collection is determined.

The application discloses a linear trajectory planning method for a space manipulator load operation task and relates to the technical field of space manipulator trajectory planning. A multi-objective optimization model is designed, and optimization targets include straightness vector optimization, obstacle avoidance optimization and jerk optimization; a trajectory planner is designed, an individual searched is a middle node configuration of a quintic polynomial trajectory, a quantum state coding mode is adopted to code the configuration of the manipulator, a QBSO algorithm is provided, a complete trajectory of the manipulator is sequentially connected by a plurality of middle node configurations, the next node configuration is searched according to a current configuration position and a target trajectory each time, and finally, a joint trajectory connected according to a quintic polynomial equation by n middle node configurations is formed. By designing a mathematical coding mode of the quintic polynomial trajectory, designing a linear trajectory planner framework based on a sampling algorithm and designing a straightness vector constraint model, an optimal trajectory meeting constraint requirements can be generated.

The invention involves a method for calculating a forward acoustic scattering Doppler frequency shift of an underwater moving target under an irregular trajectory, comprising: (1) converting earth longitude and latitude coordinates of a transmitting end, a target trajectory, and a receiving end into rectangular coordinates, and sequentially marking the coordinates as (xS, yS), (xT, yT), and (xR, yR) (2) recording a target trajectory coordinate sequence as (xT(ti), yT(ti)), wherein i=1, 2, . . . , N, and calculating an average navigation speed v within all time periods. (3) performing smoothing processing on the target trajectory to obtain a virtual straight trajectory, and respectively calculating horizontal distances from the target and the receiving end to an intersection of the virtual linear trajectory and a baseline, and an included angle between the virtual straight trajectory and the baseline; and (4) calculating the forward acoustic scattering Doppler frequency shift of the target at each time point by using the parameters calculated in steps (2) and (3).

A method for smoothing two linear trajectories based on a parameter database and an optimization algorithm belongs to the technical field of numerical control machining, and comprises the following steps: firstly, establishing an optimal parameter database offline: based on multiple groups of two linear segment trajectories with different included angles and length ratios, determining a group of optimal trajectory smoothing parameters for each group of included angles and length ratios through the optimization algorithm; enabling the maximum contour error of the generated B spline curve to be minimum, and establishing a parameter database of correlation included angles and optimal trajectory smoothing parameters; secondly, online track parameter matching: calculating an included angle and a length ratio of two straight line segment tracks to be smoothed, querying a corresponding optimal track smoothing parameter from the parameter database in the first step according to a calculation result, and automatically generating a smooth cubic B-spline curve as a transition track by utilizing the queried optimal track smoothing parameter; according to the method, full-automatic and optimal determination of smoothing parameters is realized, and the efficiency and quality of trajectory planning are remarkably improved while the machining precision is strictly guaranteed.

The robot trajectory precision influencing factor analysis method and system, the robot motion control module planning, the robot joint servo module control and the robot body structure module follow three influencing links of the robot trajectory precision are proposed; the corresponding test straight line trajectory is obtained in each link, and then the corresponding test straight line trajectory obtained in each link is compared with the standard reference straight line trajectory L1, and the degree of influence of each link on the robot trajectory precision is determined. The robot trajectory precision influencing factor rapid analysis method based on the above influencing link is proposed, the factor link influencing the motion trajectory precision can be quickly positioned, the subsequent trajectory error compensation is provided with reference, and therefore the dynamic performance of the robot is further improved.

The invention discloses a multi-connecting-rod manipulator trajectory planning method based on spatial three-dimensional coordinates, and relates to the field of automatic control. The method comprises a multi-connecting-rod model conversion module, a linear trajectory planning module and an equipment interlocking module. Bidirectional conversion of a joint angle and a three-dimensional coordinate is realized through multi-connecting-rod model conversion; based on coordinates of a starting point and an end point, adopting seven S-shaped curves to plan global cooperation time, generating a smooth trajectory in combination with PVT interpolation, and dynamically converting jerk to ensure accurate displacement; bidirectional interlocking of the mechanical arm and the station equipment is achieved by presetting a safety area and judging the position in real time. The method does not need to depend on a transverse external shaft, the reachable range of the mechanical arm is expanded, vibration can be effectively restrained, collision accidents are avoided, the method is suitable for precise load transfer in the multi-station clean environment such as EFEM, and the problems that a traditional polar coordinate control method is poor in flexibility and low in safety are solved.

The invention provides a track smoothing method and device and electronic equipment, and relates to the technical field of numerical control machining. The method comprises the steps of obtaining a straight line track and a spiral line track, determining a target plane, performing projection processing based on the target plane to obtain a projection straight line of the straight line track and a projection circle of the spiral line track, and obtaining a two-dimensional plane transition curve according to the projection straight line and the projection circle, determining a first transition point on the straight line track and a second transition point on the spiral line track according to the two-dimensional plane transition curve, obtaining a vertical change curve according to the first transition point and the second transition point, and determining a space transition curve based on the vertical change curve and the two-dimensional plane transition curve, the device can adapt to spiral line and straight line combinations of different specifications.

The invention provides a linear CT imaging system based on multiple linear tracks, and the system comprises a conveying device which is used for enabling a scanning object to move along m preset linear tracks, and m is a positive integer greater than or equal to 2; each scanning section comprises at least one radiation source and at least one detector, n is a positive integer larger than or equal to 2, the radiation source and the detector of at least one scanning section are arranged on the two sides of each section of linear track respectively, the radiation source is used for emitting a radiation beam, and the detector is used for emitting a radiation beam. The detector is used for detecting a ray beam which is emitted by the ray source and passes through a scanned object; in the n scanning sections, the scanning fan angle of at least one scanning section is not equal to the scanning fan angles of the other scanning sections.

The invention provides a hybrid communication method and device for a body-equipped robot, and relates to the technical field of industrial AI body-equipped robots, and the method comprises the steps: receiving a high-level task instruction; based on the high-level task instruction, a core control instruction and a peripheral control instruction are generated through the main control brain, the core control instruction is used for controlling the two-arm joint module, and the peripheral control instruction is used for controlling the head motor and the body motor; the core control instruction is sent to an operation control cerebellum, the core control instruction is analyzed into accurate motion parameters through the operation control cerebellum, and the accurate motion parameters comprise torque control, speed and position parameters; wherein when the position parameter for analyzing and defining the motion trail of the end effector is mapped to the joint space, the motion range constraint of the joint is equivalent to a circular boundary, and an expected Cartesian space linear trail is used as input. According to the invention, the balance between the communication real-time performance and the deployment flexibility of the robot with the body can be realized.

This invention relates to a lightweight grinding trajectory planning algorithm and system based on contour-level point clouds, belonging to the field of industrial grinding and polishing planning technology. The method includes: acquiring a workpiece contour point cloud; detecting the deviation between the workpiece contour point cloud and a preset workpiece contour; generating contact reference points; performing local surface fitting on the contour point cloud to generate initial straight line trajectory segments; adjusting the curvature of the irregular surface by splicing multiple short trajectory segments; automatically matching corresponding trajectory parameters according to workpiece attributes to obtain an optimized contour grinding trajectory scheme; adjusting the contour grinding trajectory connection nodes through a secondary smoothing algorithm; adjusting the contour grinding trajectory height compensation value according to a preset pressure threshold; setting contact redundancy trajectories to optimize grinding positioning deviation; verifying trajectory fit and contact blind zones; and automatically triggering a warning signal and pausing contour grinding trajectory output when a severe lack of contour point cloud or excessive trajectory deviation is detected.

The invention relates to a track processing method and device, machining equipment and a readable storage medium. The method comprises the steps that track point position coordinates of a to-be-fitted machining track and connection end point tangent vectors of the machining tracks located on the two sides of the to-be-fitted machining track are obtained; according to the track point position coordinates and the connection end point tangent vector, a fitting control point of the to-be-fitted machining track is determined; and according to the fitting control points, a fitting construction curve of the to-be-fitted machining track is determined. According to the method, the problem that the speed direction suddenly changes when the fitting curve generated through compression and a conventional machining track (such as an arc track / linear track) are machined to the joint due to discontinuous tangent vector is effectively solved, so that the machining efficiency and the machining quality are improved, and the requirement for higher laser machining precision can be met.