Submissive stabilization control method in process of capturing spatial irregular moving object
A technology of motion target and stable control, which is applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc. It can solve the problems that the main body cannot effectively follow, damage the manipulator device, and the implementation method is simple.
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment Construction
[0037] The present invention will be further elaborated below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.
[0038] Such as figure 1 As shown, a compliant and calm control method in the process of capturing irregular moving targets in space includes the following steps:
[0039] S1, determining the optimization variables when the manipulator captures the target, the optimization variables include: damping time, terminal velocity, joint angular velocity and joint angular acceleration;
[0040] In order to make the damping fast, the optimization of time is one of the factors that need to be considered; secondly, preventing excessive joint angular velocity during the damping process is also a problem that needs to be considered in trajectory planning; finally, in order to match the actual engineering, the control The size of the torque is also the content that needs to be optimized. The modified genetic algorithm is used...
PUM
![No PUM](https://static-eureka-patsnap-com.libproxy1.nus.edu.sg/ssr/23.2.0/_nuxt/noPUMSmall.5c5f49c7.png)
Abstract
Description
Claims
Application Information
![application no application](https://static-eureka-patsnap-com.libproxy1.nus.edu.sg/ssr/23.2.0/_nuxt/application.06fe782c.png)
- R&D Engineer
- R&D Manager
- IP Professional
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.
© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap