51results about How to "Improve trajectory accuracy" patented technology

A system for and method of tracking and locating RFID tags, including where at least one steerable phase array antenna may locate the tags associated with items in three dimensions in real time, through the use of a beam steering unit and controller therewith to control the direction of a beam launched by the at least one steerable phase array antenna.

The invention provides a robot vibration suppression method based on an acceleration sensor. The robot vibration suppression method comprises the steps that robot track pre-operation is executed, specifically, the three-shaft acceleration sensor is mounted at the tail end of a robot, and vibration signals in three directions in the mounting position during pre-operation of the robot are collected; vibration parameters of the industrial robot are extracted according to the collected vibration signals; an input forming device is designed according to the obtained vibration parameters; and the input forming device acts on the operation track of the industrial robot so as to correct the operation track of the industrial robot through the input forming device. Through the method of applying input shaping to the industrial robot, the problems that input shaping parameters are difficult to obtain, and shafts move asynchronously due to the input shaping time lag are solved, vibration of the industrial robot can be suppressed, and track precision and positioning precision are improved.

The invention relates to a machine tool comprising frame (1) which has rigid side walls (2, 3) with linear guides (4, 5) on the top; compound slides (6, 11) which is movable and situated in or on the linear guides (4, 5) of the side walls, and which guides a processing unit (14) with a spindle head (15) at a front side so as to move the processing unit (14) vertically; and workpiece holding units (24-28) which are arranged in a gap between the side walls and may include a workbench (28) or a workpiece clamping device. One side wall (3) at the front side is shorter than the other side wall (2) for forming an enlarged access to a working space of the machine tool. The linear guides (4, 5) on the side walls (2, 3) of a machine frame (1) are aligned under an acute angle to a vertical center plane of the machine frame (1).

The invention relates to an elliptic arc interpolation method, which comprises the following steps of: 1, expressing an elliptic track where an elliptic arc is located in a parameter form of a standard elliptic equation; 2, calculating a stepping angle delta theta between a current interpolation point Pi (xi, yi) and a next interpolation point Pi+1 (xi+1, yi+1); 3, calculating a coordinate of thenext interpolation point Pi+1 (xi+1, yi+1) according to the coordinate of the current interpolation point Pi (xi, yi); and 4, making interpolation reach an end point of the elliptic arc if the current interpolation point Pi (xi, yi) does not exceed the end point of the elliptic arc and the next interpolation point Pi+1 (xi+1, yi+1) just reaches or exceeds the end point of the elliptic arc, and finishing interpolation process; otherwise, making the interpolation not reach the end point of the elliptic arc, carrying out the interpolation by using the Pi+1 (xi+1, yi+1) as a new current interpolation point, and then returning to the step 2. The elliptic arc interpolation method is applied to the interpolation of anticlockwise and clockwise elliptic arcs which have any start points and any endpoints and the whole ellipse, so that calculation of the interpolation points is simple and fast, the accuracy of the track is high, and discrimination of the end point is fast and correct.

The invention relates to a deformation prediction and compensation method of a three-dimensional stone carving robot processing system. The deformation prediction and compensation method comprises thesteps that a kinematic model of the three-dimensional stone carving robot processing system is constructed, and a Jacobian matrix of the three-dimensional stone carving robot processing system is solved; a robot stiffness identification experiment is designed, the joint stiffness of the three-dimensional stone carving robot processing system is identified, and the mapping relationship of stiffness from a joint space to a Cartesian space at the end is established; according to the position and posture of the three-dimensional stone carving robot processing system and the external force received during processing, a joint stiffness model is used for predicting the tail end deformation value and each joint deformation value of the three-dimensional stone carving robot processing system; andaccording to the predicted deformation of each joint, the angle of each joint is adjusted to eliminate the deformation at the tail end of the robot processing system for processing three-dimensional stone carvings. The quantitative compensation of the structural deformation value of any three-dimensional stone carving robot processing system is realized, and the tool path precision of the three-dimensional stone carving robot processing system is improved when stone is processed.

A trajectory control device for controlling the trajectory of a movable portion by simultaneously controlling the motors of a plurality of movable axes comprises: a servo system response trajectory calculation unit (1) for calculating a servo system response trajectory on the basis of the position commands for the respective movable axes; a shape feature determination unit (9) for, on the basis of whether a command route shape is a straight or curved line from the position commands, outputting a shape feature amount including information about movement directions at the position of a boundary point of the route shape and in the vicinity of the boundary point; a position vector correction unit (2) for correcting a position vector on the basis of the position commands, the servo system response trajectory, and the shape feature amount and outputting the corrected position commands; and servo control units (7, 8) for controlling the motors of the respective movable axes by outputting the motor driving torques so that the positions of the respective movable axes follow the corrected position commands. This makes it possible to perform corrections for suppressing a trajectory error to a sufficiently small level, including even at a place, such as a boundary portion between a straight line and a curved line, where the magnitude and direction of the trajectory error change transiently.

The invention discloses an intelligent working face coal-rock interface recognition method based on geological data. The method includes the first step of coal seam three-dimensional modeling based on geological data, the second step of coal seam primary mining and coal-rock interface recognition, and the third step of coal seam subsequent mining and coal-rock interface recognition. The first step includes the substeps that 101, geological data is obtained through actual measurement, wherein actual measurement geological data of to-be-mined coal seam is obtained and includes coal seam geological data, mining roadway geological data and cut hole geological data; 102, a coal seam model is constructed, wherein data storage, interpolation operation, three-dimensional coordinate database generation and model construction are conducted. The third step includes the substeps that the to-be-mined coal seam continues to be mined by means of a coal mining machine from back to front, and a coal-rock interface of the working face is recognized before each working face is mined. The method is simple in step, reasonable in design, convenient to implement and good in use effect, and the coal-rock interface is conveniently, quickly and accurately recognized according to the actual measurement geological data and cylinder height adjustment track prediction data.

An industrial robot vibration suppression method includes recording the given position issued from a control system and actual position information fed by an encoder during moving of a robot, calculating position compensation and speed compensation according to the deviation value between the given position and the feedback position, providing the position compensation to the given position, providing the speed compensation through a speed feed-forward interface, thereby realizing vibration suppression to the robot. According to the method, the position encoder of the industrial robot is useddirectly, external sensors are omitted, and thus, optimization cost is saved, data error caused by arrangement of peripheral devices is avoided. The method cannot only solve the problem about vibration in action of the robot but eliminate vibration in positioning. The position compensation and the speed compensation can be reused if the moving track of the robot does not change since the vibrationsuppression compensation is acquired by study, and accordingly, study on vibration suppression can be omitted.

The invention generally relates to a system for generating and transmitting a telemetry formatted message containing raw Global Positioning System (GPS) information, processed Inertial Measurement Unit (IMU) information corresponding to the position and attitude of a high speed vehicle in motion. This telemetry formatted message is received on the ground and used to improve Kalman filter operation. In particular, the telemetry formatted message is used as an input to a ground based Kalman filter that is set to track and predict the trajectory of the high speed vehicle. The telemetry formatted message content improves the overall operation of the Kalman filter by preventing Kalman filter resets that occur when a bit error is encountered in the IMU data and improves the time correlation of high data rate IMU information and low data rate GPS information, both necessary for accurate tracking of the high speed vehicle.

The invention discloses a gray Markov chain trajectory prediction method for shearer memory cutting. The method comprises the steps that a drum height data sequence for prediction is acquired: mining machine memory cutting data in the mining process of 6 to 8 working faces on the back side of the current working face are acquired; the drum height is preliminarily predicted; a drum height preliminary prediction results is amended, wherein prediction residual Markov chain establishing, Markov predicting, drum height prediction data set calculating and shearer heightening data set acquiring are carried out; and a heightening trajectory is acquired, and specifically a data processing device acquires the shearer heightening trajectory of the current working face according to the shearer heightening data set acquired in the previous step in the mining process of the current working face. The method provided by the invention has the advantages of simple steps, reasonable design and simple realization, good use effect, simple method steps, reasonable design, easy realization, good use effect and high prediction accuracy, and carries out heightening trajectory prediction based on a gray Markov chain.

The invention provides a track processing method and device, equipment and a storage medium. The method comprises the following steps of acquiring at least two motion tracks acquired by at least two pieces of acquisition equipment in a target motion area of a target motion object, respectively mapping track points on the at least two motion tracks into grids corresponding to the target motion area, and determining a motion grid set of the target motion object according to the number of the track points in each grid, the sizes of the grids and the motion speed of the target motion object, and performing smooth filtering processing on all the track points in the motion grid set to obtain a theoretical motion track of the target motion object. According to the technical scheme, for an environment with a large number of redundant track points and different precision of the same moving object, the data size of the track data is effectively reduced through the idea of mesh generation, the problem that the track data is inaccurate due to the fact that the same object has multiple motion tracks is solved, and the track precision of the motion object is improved.

In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (thetac), and outputs a processed joint-angle target value (thetad). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an interference-torque compensation command value calculation unit (200), and outputs a processed interference-torque compensation value (cd).

A machine learning device is provided in a versatile controller capable of inferring command data to be issued to each axis of a robot. The device includes an axis angle conversion unit calculating, from the trajectory data, an amount of change of an axis angle of an axis of the robot, a state observation unit observing axis angle data relating to the amount of change of the axis angle of the axis of the robot as a state variable representing a current state of an environment, a label data acquisition unit acquiring axis angle command data relating to command data for the axis of the robot as label data, and a learning unit learning the amount of change of the axis angle of the axis of the robot and the command data for the axis in association with each other by using the state variable and the label data.

The invention discloses a robot calibration method, a robot calibration system and a readable storage medium. The robot calibration method comprises the following steps: recording the joint data of each joint of a robot; obtaining the tail end simulation position of the robot through establishing a robot connecting rod structure D-H model; constructing a tail end simulation position error model according to the joint data and the tail end simulation model of the robot; constructing a zero error model according to the joint data and the robot connecting rod structure D-H model; and compensatingthe tail end simulation position error model into the zero error model to obtain the joint zero error. According to the robot calibration method, the track precision of the robot can be improved on the premise of simple operation.

The invention discloses a ballistic missile three-dimensional trajectory estimation method based on an infrared early warning image, and the method comprises the steps: carrying out the point target detection of a pre-obtained missile infrared remote sensing image in a continuous time sequence, and extracting the pixel coordinates of the mass center of a target of each image point; according to the extracted time and space information of the target point, tracking the target and obtaining a motion trail; conducting ballistic missile trajectory screening on ballistic missile motion characteristic analysis; unifying the attitude data and the orbit data of the missile target in a coordinate system; predicting a target three-dimensional trajectory through a collinear equation and a constraintcondition in a z direction according to the image plane two-dimensional trajectory; and correcting the error track according to the kinematic model of the missile and the constraint condition of the active section of the missile. According to the method, three dimensions are estimated from two dimensions, and a new scheme is provided for tracking and early warning of missiles.

This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.

The invention discloses a robot infrared laser locating motion track planning method. A robot, an infrared laser locating device and a processor are involved. The infrared laser locating device comprises an infrared camera, an infrared transmitter and an infrared laser locator. The infrared camera, the infrared transmitter and the infrared laser locator are connected with the processor to determine position coordinates. The locator and a view shooting device are installed on the robot. The processor is connected with the robot through the signal processing device and the infrared laser locating device. The method has the beneficial effects that immediate planning of the motion track is achieved, real-time planning of the motion track is achieved, the track precision of the robot is improved, by means of infrared laser and shooting images, the robot can be located precisely in real time, in the processing process, coordinate values in the transverse direction and the front and back direction and preset coordinate values are consistent in change trend, the sensing ability to the environment is improved, the adapting ability is improved, the motion track is adjusted in time, locatingis precise, and the method is suitable for long-time teaching.

A robot joint structure includes a motor configured to be used for a robot joint shaft capable of turning about a vertical axis, a motor-side gear mounted on a shaft of the motor, an auxiliary bearing configured to axially support the shaft supplementally, an adapter configured to integrate the motor, the motor-side gear, and the auxiliary bearing, and a moving mechanism configured to move a unit structure integrated by the adaptor in a radial direction of the motor such that the motor-side gear approaches a mating gear meshing with the motor-side gear.

The invention provides a singular position avoidance method, system and device, and a computer readable storage medium which are used for controlling a six-joint robot to cross a singular position from a track starting point to move to a track end point. The method comprises the following steps: when the six-joint robot moves to a singular region comprising the singular position, one axis is selected from the three axes related to the singular position for interpolation processing; the positions of the other two axes in the three axes related to the singular position are obtained, and the error functions related to the positions of the other two axes in the three axes related to the singular position are enabled to be the minimum; and according to the positions of the three axes related tothe singular position, the positions of the three axes, except the three axes related to the singular position, in the six-joint robot are obtained. According to the embodiment of the invention, highreal-time performance and low calculation amount are achieved, and no reduction of the Cartesian speed at the tail end, and high track precision in the whole movement process can be ensured.

The invention discloses a robot path precision compensation method and system. According to the technical scheme, the robot path precision compensation method comprises the steps that the external force information of a robot is obtained, the deformation of the tail end of the robot is calculated according to the joint rigidity information and the external force information, and the force compensation amount is obtained; the actual position of the tail end of the robot is obtained, the track correction amount is calculated by combining the theoretical track of the tail end of the robot, and the position closed-loop control compensation amount is obtained; and force compensation and position closed-loop control compensation are combined to obtain a tail end path precision compensation scheme, and the robot is controlled to complete tail end precision compensation. According to the robot path precision compensation method, the track offset which is about to occur when the robot is subjected to external disturbance is calculated, and the robot is controlled to compensate the corresponding offset in advance, so that the hysteresis of position closed-loop control compensation for external load disturbance is compensated; and meanwhile, position errors caused by internal factors of the robot can be compensated through position closed-loop control compensation. Position closed-loop control and force compensation are combined, and the tail end position precision of the robot is improved.

The invention discloses a grading errors based robot track correcting method and system, and belongs to the field of robot control. The method comprises the following steps: determining the optimal test point and measuring first positioning errors of a robot under the optimal test point by taking the minimal condition number as the target; correcting DH parameters in a robot controller according to DH parameter errors in the first positioning errors; dividing a joint space of front tree axles of the robot into multiple grids, and measuring second positioning errors of the robot under each grid; identifying a joint angle compensation value corresponding to the front three axles from the second positioning errors, and training a preset nerve network by the joint angle compensation value corresponding to each grid and the joint angle; utilizing the trained nerve network to correct programming track until the corrected practical track is consistent with a target track. Compensation correcting is performed on geometric errors and non-geometric errors of the robot by grading, so that track precision of the robot is improved, and thus, the method has the advantages of wide applicability, good stability, high precision and the like.

The embodiment of the invention discloses a robot motion control method and device, electronic equipment and a medium. The method comprises the steps that acquired path points are analyzed, and robot control compensation instructions are obtained, wherein the robot control compensation instructions comprise position compensation instructions and / or speed compensation instructions; a position loop and / or a speed loop of a servo three-loop feedback control system are / is compensated according to the robot control compensation instructions; and a robot is controlled to move based on the compensated servo three-loop feedback control system. By executing the technical scheme, the technical effect of improving the response speed, the track precision, the motion stability and other dynamic characteristics of the industrial robot can be achieved.

The invention provides a mechanical arm track correction method and system, a computer and a readable storage medium. The method comprises the steps that a theoretical motion path which an actuator will pass through is simulated in advance through a path planning algorithm; the theoretical motion trail of each joint between every two path points is calculated, and the theoretical linear acceleration and the theoretical rotation angle generated by the actuator in the theoretical motion trails are obtained; enabling the servo controller to control the actuator to move according to each path point in sequence; respectively acquiring actual linear acceleration and actual rotation angle generated when the actuator passes through each path point through an inertial sensor, and calculating an error value between an actual value and a theoretical value; and the execution path of the actuator is re-planned according to the error value, so that the actuator moves according to the execution path. In this way, the error value of the mechanical arm can be obtained in real time in the movement process of the mechanical arm, so that the execution track of the mechanical arm is corrected in real time, and wide development prospects are achieved.

The invention discloses a robot track synchronous control method which comprises the following steps of: performing closed-loop control on a position and a posture (that is, a pose) of the tail end of a robot by adopting a second-order system of a mass spring damping model to obtain a linear acceleration and an angular acceleration in a Cartesian space; converting the linear acceleration and the angular acceleration in the Cartesian space to a joint speed and a joint acceleration of the robot; if deviations exist between the pose and the joint speed of the tail end of the robot and set values, introducing an inner ring control loop, and controlling each joint of the robot to accelerate and decelerate according to the joint acceleration; and in each control interpolation period of the robot, according to the deviation between the set pose and the actual pose of the tail end of the robot, calculating the joint acceleration of each joint, and enabling the joint acceleration to be acted on a controller of the inner ring control loop of the robot. In the method disclosed by the invention, movement of each joint of the robot is adjusted in real time according to the deviation between the feedback pose of the tail end of the robot and a theoretical pose, and the track precision of the robot is improved.

The embodiment of the invention discloses a method and a device for controlling an automatic guided vehicle. A specific embodiment of the method comprises the following steps: acquiring an actual position coordinate and a deflection angle of a target automatic guided vehicle under a preset coordinate system at the current moment; on the basis of the actual position coordinate and the deflection angle, using a Runge-Kutta algorithm to predict the position coordinate of the target automated guided vehicle at the next moment as a predicted position coordinate; obtaining a planned position coordinate of a pre-planned target automated guided vehicle at the next moment, and determining a position error based on the planned position coordinate and the predicted position coordinate; determining a target position coordinate based on the position error and the actual position coordinate; and sending control information to the target automated guided vehicle based on the target position coordinate. According to the implementation mode, the track precision of the automatic guided vehicle in the running process is improved, and the derailment probability of the automatic guided vehicle is reduced.

The invention relates to the technical field of robot control, and discloses a clock synchronization method, a robot control system and a robot. The clock synchronization method is applied to the robot control system and comprises the following steps that a motion controller sends motion control data to a servo controller in a first period; meanwhile, the motion controller sends a trigger signal to the servo controller in the first period; and the servo controller modulates a clock of the servo controller to synchronize with a clock of the motion controller based on the received motion controldata and the trigger signal; and the real-time performance of clock synchronization is met, so that the speed fluctuation or jitter of the robot in the high-speed running process is greatly reduced,the running track precision of the robot at a high speed is improved, and finally the overall control performance of the controller under high bandwidth response is improved.