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32results about How to "Simplify the step-by-step process" patented technology

Array substrate and manufacturing method thereof, and display device

The invention discloses an array substrate and a manufacturing method thereof, and a display device. The array substrate has a bending area and a pixel area adjacent to the bending area, the pixel area has a plurality of pixel unit areas and a non-pixel unit area connected with the pixel unit area; the array substrate includes: a flexible substrate and an array layer, wherein the array layer includes an array base layer having a first groove and a second groove, the first groove corresponds to the non-pixel unit area in the pixel area, and the second groove corresponds to the bending area; a filling layer filled in the first groove and the second groove; and an organic dielectric layer covering the array base layer and the filling layer, wherein the organic dielectric layer and the fillinglayer employ organic photoresist materials. The array substrate and the manufacturing method thereof, and the display device having the array substrate effectively reduce the stress of each film layer in the array substrate when the film layers are bent so as to achieve bending of the pixel area.
Owner:WUHAN CHINA STAR OPTOELECTRONICS SEMICON DISPLAY TECH CO LTD

Plant fiber wood-plastic composite material and preparation method thereof

The invention relates to a plant fiber wood-plastic composite material and a preparation method thereof. The wood-plastic composite material includes compositions by mass: 40-60% of plant fibers, 0.6-3% of a coupling agent, and 30-55% of plastic. The additive comprises: 0.5-5% of a lubricating additive, 0.5-3% of a dispersing additive, 0.5-2% of a thermal stability additive, and 1-2% of a plasticizing additive. The modified plant fibers are obtained through synchronous activation and modification of plant fiber and a coupling agent by using the mechanical activation technology. Then the modified plant fibers, the plastic and the additive are high-speed mixed and finally molded to form the wood-plastic composite. The material utilizes the waste plant fibers in the light industry and agriculture, and has significant ecological environmental benefits. The method realizes simultaneous activation and modification for plant fibers, simplifies the preparation process, is pollution-free and has no three waste discharging in the process. The coupling agent-modified plant fibers is improved in compatibility with a thermoplastic material, and the quality of the wood-plastic composite material is enhanced.
Owner:GUANGXI UNIV +1

Perfluoropolyether group-containing silane compound, preparation method thereof, surface treatment agent and article

The invention relates to a perfluoropolyether group-containing silane compound represented by a formula (1): Rf-X1-X2-NQkT2-k(1), and a preparation method therefor. The invention also relates to a perfluoropolyether group-containing silane compound shown in the description, and a preparation method therefor. The invention also relates to a perfluoropolyether group-containing silane compound represented by a formula (3) shown in the description, and a preparation method therefor. The perfluoropolyether group-containing silane compound can be used for a surface treatment agent so that the glassand other base materials processed by the surface treatment agent are excellent in anti-pollution, anti-fingerprint, scrape-resistant and wear-resistant performances, and the preparation methods for the compounds are simple in process, and are easy to operate and implement.
Owner:GUANGZHOU UR MATERIALS TECH CO LTD

Method and system for implementing interconnection between different isomery household network standards

The invention provides a method for realizing interconnection among various heterogeneous home network standards, including the following steps: receiving a request to abstract service by a user and the parameters thereof; inquiring about the configuration files registered by the service providers in aspect of abstract service, and acquiring the configuration files satisfying the requirements of the user; finding the service instances corresponding to the abstract service and generating a candidate execution plan list according to the acquired configuration files and the using state of the service resource nodes; and selecting one execution plan to complete the corresponding specific service; wherein the configuration files include the combination condition of the specific services and the implementation logics thereof. The method can provide a simple and unified abstract service-oriented operation interface for the user, thereby simplifying the process flow that the user has to deal with. When the home network standard supported by the user is different with the home network standard of the bottom-layer service, the required service can be achieved without re-collocating the execution flow of the corresponding standard.
Owner:IGRS ENG LAB

Method for recovering rare earth from waste aluminate green rare-earth phosphor

The invention relates to a method for recovering rare earth from waste aluminate green rare-earth phosphor. The method sequentially comprises the following steps of carrying out calcination pretreatment on waste aluminate green rare-earth phosphor, leaching out the calcinated product by using hydrochloric acid and hydrogen peroxide and precipitating rare earth with oxalic acid. The method has the advantages of simple process steps, high recovery of rare earth (the leaching rate of rare earth is above 93%) and low cost, and the problem of difficulty in recovering rare earth from waste aluminate green rare-earth phosphor is solved.
Owner:JIANGXI UNIV OF SCI & TECH

Oxidized esterified composite modified starch and preparation method thereof

The invention belongs to the field of starch modification, and more specifically relates to an oxidized esterified composite modified starch modified by mechanical activation under solid phase conditions and a preparation method thereof. The oxidized esterified composite modified starch comprises 162g of starch, 0.1 to 1mol of an oxidizing agent, 0.1 to 1mol of an esterifying agent and 0.2 to 8g of an auxiliary agent. The preparation method comprises following steps: starch is subjected to drying pretreatment, and then all the ingredients above are delivered into a ball mill; the temperature is kept at 30 to 80 DEG C, the mixture is subjected to stirring activation for 40 to 90min so as to realize oxidation reaction and esterification reaction simultaneously, and then the oxidized esterified composite modified starch is obtained. Esterification degree of the products is 0.05 to 1.5; whiteness is 80 to 95, water content is 5 to 10%, water absorption is 1 to 5%, density is 0.8 to 1.2g / cm<3>, and the oxidized esterified composite modified starch is capable of achieving physical and chemical performance index requirments of GB / T12097, GB / T22427.6-2008 and GB / T12087-2008.
Owner:GUANGXI UNIV

Printer base plate leveling device, and leveling method

The invention discloses a printer base plate leveling device, and a leveling method. The printer base plate leveling device comprises an installation pedestal, and a printer base plate arranged on the installation pedestal; the printer base plate is fixedly arranged on the installation pedestal via adjusting screws; reset springs are arranged between the printer base plate and the installation pedestal; each adjusting screw is sleeved with a corresponding reset spring; each of the tow sides of the installation pedestal is provided with a pair of stand columns; each pair of stand columns is provided with a cross bar; the cross bars are capable of sliding along the corresponding stand columns; a sliding rail is arranged between the two cross bars; the sliding rail is capable of sliding along the cross bars; the sliding rail is provided with a detection head; and the detection head is capable of sliding along the sliding rail, and comprises a housing, a detecting bar, and an inductive probe. According to the printer base plate leveling device, cooperation of the detecting bar with the inductive probe is realized, when the detecting bar is in the induction range of the inductive probe, induction signals are send by the inductive probe, and leveling precision and stability of the printer base plate are improved.
Owner:RUIAN MAITIAN NETWORK TECH

Table structure identification method, system and equipment based on cell detection

The invention relates to the field of image recognition, in particular to a table structure recognition method, system and device based on cell detection, and the method comprises the steps: locating a table region from a table image through a table region detection model, and generating a new table image; constructing a cell detection model based on an improved SBD algorithm through the improved universal SBD algorithm, and detecting all cells in the table region by the cell detection model to obtain four vertex coordinates of a minimum quadrangle wrapping the cells; by designing a cell adjacency matching algorithm, finding out cells in the same row or the same column according to the detected coordinates of the cells, and predicting an HTML structure corresponding to the table through a table row and column clustering result; and according to the predicted table HTML structure, restoring and generating a table in an editable form with the same table structure in the image. According to the method, the problem of structure recovery of cross-row and cross-column cells can be solved, and compared with an existing method, the method has higher universality.
Owner:SOUTH CHINA UNIV OF TECH

Vector combination for quick gene editing of halomonas sp. and application of vector combination

The invention provides a vector combination for quick gene editing of halomonas sp. and an application of the vector combination. The vector combination comprises a cas9 expression vector and an sgRNAexpression vector, wherein the cas9 expression vector is obtained by introducing cas9 genes into a plasmid vector, and the cas9 expression vector does not contain lambda-RED recombinase genes. Compared with a conventional gene editing means for halomonas sp., the vector combination is quicker, only 8 days are needed for the flow for performing gene editing once, and the reforming efficiency of the halomonas sp. is greatly improved. In addition, the vector combination is used for the halomonas sp., and a gene editing method based on CRISPR / Cas9 is used for performing continuous editing (knockout and insertion) of a plurality of genes, so that the required time can be greatly shortened.
Owner:BLUEPHA CO LTD +1

Method for preparing composite photocatalyst CdS/ZIF-8 by one-pot method and application of composite photocatalyst CdS/ZIF-8

The invention relates to a method for preparing a composite photocatalyst CdS / ZIF-8 by a one-pot method, which comprises the steps of S1, dissolving alcohol-soluble zinc salt and cadmium salt in methanol, stirring until the solution is clear and transparent to obtain a first solution, dissolving 2-methylimidazole in methanol, and stirring until the solution is clear and transparent to obtain a second solution; S2, quickly pouring the second solution into the first solution, stirring to obtain a mixed solution, and standing and reacting the mixed solution for a period of time; S3, adding alcohol-soluble sulfide into the mixed solution, and reacting while stirring; and S4, after the reaction is finished, separating precipitates, washing and drying to obtain the composite photocatalyst CdS / ZIF-8. The method has the advantages of few steps and simple process, and is suitable for industrial application. Experiment tests find that compared with pure CdS, the prepared CdS / ZIF-8 composite catalyst shows more excellent hydrogen production performance and cycling stability, the CdS / ZIF-8 composite catalyst has a wide industrial application prospect, and an important reference basis is provided for catalyst design.
Owner:HUNAN JINLIANXING SPECIAL MATERIALS CO LTD

Dual-station superhigh speed fully automatic aluminum electrolysis capacitor assembling method

The invention provides a dual-station superhigh speed fully automatic aluminum electrolysis capacitor assembling method, which comprises the following steps of glue particle feeding, element feeding,aluminum case feeding, assembly opening sealing and finished product obtaining. The method has the beneficial effects that (1) the double-station operation is used; the efficiency is greatly improved;(2) double driving shafts are used for driving each equipment component; an inside structure is greatly simplified; the work efficiency is improved; the mutual cooperating precision and stability ofeach component are improved; (3) a space between clamp openings of a glue particle clamp mold group and the adjacent glue particle clamp mold group is 80 to 100mm, so that the glue particle mold clamping structure is simple; the stability is high; (4) the step flow process is simple; the operation is convenient.
Owner:华智能源设备(深圳)有限公司

Linux operating system file read-write transparent encryption and decryption method

The invention discloses a Linux operating system file read-write transparent encryption and decryption method, comprising the following steps: 1, finding the address of a sys_close function; 2, starting from the starting address of the memory, reading the data in the memory and matching; and if the content is the address of the system call sys_close, determining that the matching is successful, and carrying out the next step; If not, determining that the matching fails, and reading the data in the next memory and performing matching; 3, after the matching is successful, calling the open, read,write, mmap and msync functions on the hook system to encrypt and decrypt the data; 4, achieving the function of file encryption protection. The method has the advantages of simple process and wide platform compatibility, and is not only suitable for Mips processors, but also suitable for Arm processors. The search method is simple; the code is simple and understandable.
Owner:浙江华途信息安全技术股份有限公司

Access control method and system of Internet of Things, and user equipment

The invention discloses an access control method and systemof Internet of Things, and user equipment. The user equipment comprises an instruction acquisition module, an access control module and a result receiving module. The system comprises a central server, a proxy server, a gateway, Internet of Things equipment and user equipment. Through cooperation of an identity-based encryption technology and the proxy server based on a message queue transmission protocol, a digital certificate of a first user is verified in advance when a first permission token chain is generated, and after verification is passed, the digital certificate is placed in the first permission token chain and signed. The method, the user equipment and the system not only avoid the generation of a large number of keys and the subsequent key management burden, but also enable a verification program for the digital certificate of a visitor and a signature verification program of the first permission token chain to be carried out together, thereby accelerating the response speed of access control on the premise of ensuring the legality of the access control.
Owner:GUANGZHOU UNIVERSITY

Method for estimating non-Newtonian index of resin material by utilizing injection molding machine

The invention discloses a method for estimating a non-Newtonian index of a resin material by utilizing an injection molding machine. The method comprises the following steps: arranging a pressure sensor in the injection molding machine to measure integral total pressure drop data in the injection molding machine and calculating theoretical pressure drop of each position according to the dimension of each part on the injection molding machine and an adaptor; and carrying out linear fitting to obtain the non-Newtonian index of the material. The method is convenient in operation and simple in step flow; and results obtained by virtue of the linear fitting are high in accuracy. The method is used for the field of injection molding.
Owner:GUANGZHOU HKUST FOK YING TUNG RES INST

Preparation method and application of dandelion leaf water-soluble crude extract

The invention discloses a preparation method of a dandelion leaf water-soluble crude extract. The preparation method comprises the steps of water extraction pretreatment, water extraction, concentration, spray drying and the like. The whole process is simple, the extraction rate is high, and the extraction cost is low; the prepared dandelion water-soluble crude extract is high in content of effective components, and can be used for preparing a feed additive capable of improving immunity and antisepsis and anti-inflammation activity. Wherein the extraction rate of the water-soluble crude extract can reach 27.4%, and is increased by 2 times compared with the extraction rate of 13.7% of the crude extract in the current market; and the content of caffeic acid is increased from 0.02% to 1.1% orabove.
Owner:COASTAL AGRI RES INST HEBEI ACAD OF AGRI & FORESTRY SCI

Silane compound containing perfluoropolyether group, its preparation method, surface treatment agent and article

The invention relates to a perfluoropolyether group-containing silane compound represented by a formula (1): Rf-X1-X2-NQkT2-k(1), and a preparation method therefor. The invention also relates to a perfluoropolyether group-containing silane compound shown in the description, and a preparation method therefor. The invention also relates to a perfluoropolyether group-containing silane compound represented by a formula (3) shown in the description, and a preparation method therefor. The perfluoropolyether group-containing silane compound can be used for a surface treatment agent so that the glassand other base materials processed by the surface treatment agent are excellent in anti-pollution, anti-fingerprint, scrape-resistant and wear-resistant performances, and the preparation methods for the compounds are simple in process, and are easy to operate and implement.
Owner:GUANGZHOU UR MATERIALS TECH CO LTD

Intelligent temperature and humidity regulation system based on camera sensing and regulation method thereof

The invention discloses an intelligent temperature and humidity regulation system based on camera sensing. The system comprises a temperature and humidity sensor, a camera unit, a central control unit, a wireless communication module, a cloud server, a fan, a heater, a spraying device and a dehumidification device. The central control unit is respectively in electrical connection with the temperature and humidity sensor and the camera unit and used for receiving temperature and humidity data information acquired by the temperature and humidity sensor, and image identification information acquired by the camera unit, and further sending the image identification information out through the wireless communication module; and the cloud server receives the image identification information through the wireless communication module to complete crowd identification and feed back to the central control unit. The intelligent temperature and humidity regulation system based on camera sensing of the invention uses a temperature and humidity acquisition technology, a photography technology and a cloud data processing technology in combination to achieve entering into a relatively comfortable environment without artificial control on the system. The invention also discloses a regulation method of the intelligent temperature and humidity regulation system based on camera sensing.
Owner:HUNAN UNIV OF SCI & TECH

Rigidity measuring method and system for air spring bag skin and storage medium

The invention discloses a rigidity measuring method and system for an air spring bag skin and a storage medium, and the method comprises the steps: applying loads of different magnitudes to one end of a pull rod of a piston pull rod structure, driving the bag skin to axially stretch at different amplitudes and frequencies, and carrying out the axial stretching of the bag skin at different amplitudes and frequencies in the axial stretching process of the bag skin at different amplitudes and frequencies, a plurality of displacement and force values of the bag skin under different amplitudes and frequencies are collected, a displacement change value and a force value change value are calculated according to the displacement and force values of the bag skin under different amplitudes and frequencies, and the rigidity of the air spring bag skin is calculated based on the displacement change value and the force value change value. According to the method, few steps are needed, complex operation treatment is not needed, and the rigidity of the air spring bag skin can be simply and rapidly measured.
Owner:易瑞博科技(北京)有限公司

A method for recovering rare earth from waste aluminate green rare earth phosphor

The invention relates to a method for recovering rare earth from waste aluminate green rare-earth phosphor. The method sequentially comprises the following steps of carrying out calcination pretreatment on waste aluminate green rare-earth phosphor, leaching out the calcinated product by using hydrochloric acid and hydrogen peroxide and precipitating rare earth with oxalic acid. The method has the advantages of simple process steps, high recovery of rare earth (the leaching rate of rare earth is above 93%) and low cost, and the problem of difficulty in recovering rare earth from waste aluminate green rare-earth phosphor is solved.
Owner:JIANGXI UNIV OF SCI & TECH

An access control method, user equipment, and system for the Internet of Things

The invention discloses an access control method, user equipment and system of the internet of things. The user equipment includes an instruction obtaining module, an access control module and a result receiving module. The system includes a central server, a proxy server, a gateway, an Internet of Things device and a user device. Through the cooperation of identity-based encryption technology and proxy server based on message queue transmission protocol, at the same time, by verifying the digital certificate of the first user in advance when generating the first capability token chain, after the verification is passed, the digital certificate is placed in the In and signed in said first chain of capability tokens, the method, user device, and system not only avoid the generation of a large number of keys and the attendant key management burden, but also enable the verification of digital certificates for visitors The procedure is carried out together with the signature verification procedure of the first capability token chain, which improves the response speed of access control while ensuring the legitimacy of access control.
Owner:GUANGZHOU UNIVERSITY

System and method for wireless communication private network survey

The invention provides a wireless communication private network survey system in the technical field of wireless communication, including a mobile terminal, a portable individual soldier survey device, a wireless private network base station and a server; one end of the portable soldier survey device is connected to the mobile terminal, and the other end is connected to the mobile terminal. Wireless private network base station connection; wireless private network base station and server connection; portable individual survey device includes wireless router, CPE, power supply module, individual soldier backpack and telescopic rod; one end of the wireless router is connected to the mobile terminal, and the other end is connected to the power supply module One end of the CPE is connected with the wireless router, and the other end is connected with the wireless private network base station; the wireless router and the CPE are all located in the individual soldier's backpack; the CPE is installed on the telescopic rod, and the telescopic rod is installed outside the individual soldier's backpack; A wireless communication private network survey method is proposed. The invention has the advantages of reducing the workload and risk factor of user terminal installation and debugging, and improving the efficiency of user terminal service activation.
Owner:FUJIAN NEWLAND COMM SCI TECH

Induction surface structure, preparation method thereof and product with induction surface structure

The invention relates to an induction surface structure which can be used as a product surface and comprises a surface layer and an induction signal module, wherein the surface layer is arranged on the side, which faces a user, of the induction signal module, the induction signal module comprises an induction layer, and when the user is away from the surface layer by a preset distance and / or acts on the surface layer, the induction layer correspondingly generates heat energy change and / or deformation to generate an induction electric signal so as to excite the product to make corresponding feedback. The induction surface structure can be self-powered, and the induction function can be achieved without an external power source. When being not in use, the induction surface structure can be directly used as a product surface to be hidden, and the product design attractiveness is improved. The product with the induction surface structure adopts the induction surface structure as the outer surface of the product, so that the design science and technology sense and the attractiveness of the product can be enhanced. The preparation method provided by the invention is high in controllability, and the obtained induction surface structure is high in product stability and long in service life.
Owner:UNIV OF ELECTRONIC SCI & TECH OF CHINA

Soil turning equipment for agricultural planting in field of agricultural machinery

The invention discloses soil turning equipment for agricultural planting in the field of agricultural machinery, and the soil turning equipment comprises a base plate, a lifting vertical frame, a soil turning assembly, an irrigation assembly, a lineation assembly and universal wheels, the irrigation assembly is arranged at the front end of the base plate, and external irrigation fertilizer is added into a water tank shell through a water inlet and pumped out through a water suction pump; meanwhile, a hydraulic oil cylinder and a hydraulic motor in a lifting vertical frame drive a hydraulic inner rod to press downwards, a rotating motor drives a rotating roller to roll, a soil turning shovel can stir and fry the soil back and forth, finally, a driving oil cylinder in a lineation assembly drives a zigzag lifting rod to descend, and a lineation head at the bottom makes contact with the soil; by means of the device, the scribing head conducts scribing operation on soil in the forward running process of the whole device, the device can automatically and sequentially conduct fertilizer irrigation, soil turning and scribing work, the step flow of soil cultivation is effectively simplified, the repeated labor rate is reduced, the device is convenient to use and not prone to making mistakes, and follow-up crop planting is facilitated.
Owner:张焕永

Commodity recommendation method and device, storage medium and equipment

The invention discloses a commodity recommendation method and device, a storage medium and equipment, and the method comprises the steps: receiving a triggering instruction, recognizing a selection action of a user on a shopping interface in response to the triggering instruction, and determining a question type selected by the user; according to the question type selected by the user, indexing in a server to obtain one or more corresponding historical encrypted orders; generating an order key, and decrypting the historical encrypted order through the order key to obtain historical selected commodities in the historical encrypted order; performing classified statistics on all historical purchased commodities obtained by decrypting all the historical encrypted orders to obtain a quantity value of each historical purchased commodity; and selecting a plurality of historical purchased commodities with the maximum quantity value and displaying the selected commodities on a shopping interface so as to recommend a user to select. The technical problem that in the prior art, an online shopping platform cannot efficiently and accurately provide commodity recommendation is solved, and better user shopping experience is provided.
Owner:广州万物集工业互联网科技有限公司

A method of estimating the non-Newtonian exponent of resin material by using injection molding machine

The invention discloses a method for estimating a non-Newtonian index of a resin material by utilizing an injection molding machine. The method comprises the following steps: arranging a pressure sensor in the injection molding machine to measure integral total pressure drop data in the injection molding machine and calculating theoretical pressure drop of each position according to the dimension of each part on the injection molding machine and an adaptor; and carrying out linear fitting to obtain the non-Newtonian index of the material. The method is convenient in operation and simple in step flow; and results obtained by virtue of the linear fitting are high in accuracy. The method is used for the field of injection molding.
Owner:GUANGZHOU HKUST FOK YING TUNG RES INST

Vehicle selection and purchase recommendation method based on analytic hierarchy process

The invention discloses a vehicle selection and purchase recommendation method based on an analytic hierarchy process. The method specifically comprises the following steps of: collecting informationof all vehicles on the Internet; obtaining a vehicle selection limit of a user and the preference degree of the user for each attribute of vehicles, and screening all vehicles collected through the Internet according to the vehicle selection limit of the user to obtain all vehicles selectable by the user; constructing a judgment matrix A according to the preference degree of the user for each attribute of vehicles; constructing a judgment matrix of all vehicles which can be selected by a user for each attribute; and performing calculation according to the judgment matrix to obtain a recommendation weight of each vehicle which can be selected by the user, and preferentially recommending the vehicle to the user if the recommendation weight is greater. According to the method, the problems ofmany options, complex data, incomplete analysis and consideration and the like during traditional car purchase are avoided, meanwhile, the method is intelligent, an accurate recommendation scheme isprovided in real time according to the unique preferred taste of the user, time is saved, efficiency is high, and physical power and mental labor are saved.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS

One-pot preparation method and application of composite photocatalyst cds/zif-8

The present invention relates to the method for preparing composite photocatalyst CdS / ZIF-8 by one-pot method, comprising the following steps: S1: dissolving alcohol-soluble zinc salt and cadmium salt in methanol, stirring until clear and transparent to obtain the first solution; Methylimidazole is dissolved in methanol, stirred until clear and transparent to obtain a second solution; S2: quickly pour the second solution into the first solution, stir to obtain a mixed solution, and leave the mixed solution to react for a period of time; S3: In this mixed solution, add alcohol-soluble sulfide-, react under stirring; S4: After the reaction finishes, separate precipitation, wash, dry, obtain composite photocatalyst CdS / ZIF-8. The method of the invention has few steps, simple process and is suitable for industrial application. Through experimental tests, it was found that compared with pure CdS, the prepared CdS / ZIF-8 composite catalyst showed better hydrogen production performance and cycle stability, which showed that it had broad industrial application prospects and provided a basis for catalyst design. important reference.
Owner:HUNAN JINLIANXING SPECIAL MATERIALS CO LTD

Cyclic motion control method and device for double-arm robot

InactiveCN112605992ACircular Motion RealizationCyclic motion control implementationProgramme-controlled manipulatorSimulationPerformance index
The invention discloses a cyclic motion control method and device for a double-arm robot. The method and the device are suitable for a robot with a left mechanical arm and a right mechanical arm. The method comprises the steps: setting a performance index of a left-arm robot and a performance index of a right-arm robot, and minimizing the two performance indexes at the same time to obtain a motion performance index, generating a control scheme of cyclic motion of a protrusion level layer based on the motion performance index; generating a left constraint inequality of the left-arm robot and a right constraint inequality of the right-arm robot; based on the left constraint inequality and the right constraint inequality, converting the control scheme of the cyclic motion of the protrusion level layer into a standard quadratic programming problem, and calling a preset quadratic programming solver to solve the problem; and obtaining a solving result generated by the preset quadratic programming solver, and driving the left mechanical arm and the right mechanical arm of the robot to circularly move according to the solving result. Circulating motion control of the double-arm robot can be achieved.
Owner:SUN YAT SEN UNIV
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