484 results about "Kinematic controller" patented technology

In an inserting apparatus and method such as the continuous motion type, a motion controller electrically communicates with an encoder, a first motor driving an insert conveyor assembly, a second motor driving an envelope conveyor assembly, and an actuator operatively interfaced with a peripheral device. The motion controller controls insert conveyor assembly speed, envelope conveyor assembly speed, and the rotational position at which the actuator should be activated, based on the encoder signal. Once during every master cycle, the motion controller calculates the actuator activation position, and causes the first actuator to be activated at the calculated first actuator activation position.

The invention relates to the safe auxiliary driving and intelligent control filed and discloses an automatic control system and a method for preventing side-slipping and side-turnover in a curve road. A vehicle-mounted automatic control system is adopted to control an intelligent vehicle. At first, information about curve road curvature is obtained; secondly, the information about curve road curvature is converted into digital signals and input into a vehicle-mounted micro-processor, curve road critical safe driving speed is calculated by a safe driving speed calculation module and current driving speed is measured by a vehicle-mounted sensor; then the current driving speed and the critical safe driving speed are judged by a safe condition judging module; and finally a system automatic control module is used to control the intelligent vehicle to pass through the curve road smoothly. The automatic control system and the method for preventing side-slipping and side-turnover in the curve road overcome the shortcoming that trajectory tracking is achieved by only using a vehicle kinematics controller, a designed vehicle dynamics controller guarantees straightaway automatic deceleration and practicability and instantaneity of maintenance in the curve road, and calculation accuracy of safe driving speed is improved. By means of dynamics control principles including equivalent control and switching control, the system chattering phenomenon can be restrained effectively and influence of external disturbances can be overcome.

The invention relates to a single-wheel robot system and a control method thereof, belonging to the field of intelligent robot, in particular to a static unbalanced robot which can autonomically control movement balance further to autonomically ride a monocycle and a movement balance control method thereof. The single-wheel robot comprises a robot body and a balance detection and control system and is characterized in that the lower part of the robot body is provided with a single wheel which can rotate front and back, and the middle of the robot is provided with an inertial flywheel which can rotate left and right and is horizontally placed; the balance detection and control system comprises a movement controller, a posture detector and a servo drive controller, wherein the posture detector and the servo drive controller are connected with the movement controller; and the movement controller 10 receives a signal of a posture sensor and processes the received signal according to a control procedure so as to send a control order to control a motor through the servo drive controller to regulate the posture balance of the single-wheel robot. The invention provides a control platform which not only belongs to robotics but also belongs to the field of control science and intelligent control, thereby meeting the needs of multi-subject scientific research and teaching.

The invention provides a trajectory tracking method for a four-wheel-driven wheeled mobile robot. The method comprises the steps of firstly establishing a kinematic model, a dynamic model and a driving motor model of a system; then designing a kinematic controller for adjusting speed of the system according to a given reference trajectory based on the kinematic model; operating the kinematic controller for obtaining the anticipated torque of a motor according to the speed of a to-be-adjusted system based on the kinematic model; designing a driving motor controller for designing an appropriate driving voltage of the system for satisfying the anticipated torque of the motor based on the driving motor model; and finally performing trajectory tracking control on the four-wheel-driven wheeled mobile robot according to a backstepping robustness trajectory tracking control method. The trajectory tracking method according to the invention realizes a purpose of improving stability of a four-wheel-driven wheeled mobile robot control system in a complicated uncertain environment and furthermore improves system controlling effectiveness on the condition with uncertain factors.

A remote-operated working device includes a movement controller that controls movement of the remote-operated working device; a working unit that performs a predetermined work on the work target; a first detector that detects contact between the working unit and the target; and a communicator that transmits a signal for vibrating the remote control to the remote control in a case where contact between the working unit and the work target is detected by the first detector.

The invention belongs to the safe auxiliary driving and intelligent control filed and discloses a tracking and controlling method for lane changing trajectories in a crooked road. At first, planning the lane changing trajectories; secondly, using a vehicle pose expected by planned lane changing trajectories as a referential state of a kinematics controller; then using control input of the kinematics controller as a referential state of a dynamics controller; and finally analyzing stability of a dual closed-loop structure control system composed of the kinematics controller and the dynamics controller. The tracking and controlling method for the lane changing trajectories in the crooked road overcomes the shortcoming that trajectory tracking is achieved by only using the vehicle kinematics controller, the dynamics controller is designed and practical research value is improved. Accuracy of the planning of the lane changing trajectories is improved from the perspectives such as an influence, on the lane changing trajectories, of a vehicle longitudinal velocity change and the difference of curvature between an inner side lane and an outer side lane. By means of a controller based on a dual closed-loop structure, overall accordance and bounded convergence of tracking errors can be guaranteed, and convergence speed of the tracking errors and strong robustness of the uncertainty of a time-varying parameter are improved.

The invention relates to a multi-axial movement controller and its operation based on MPC5200.The movement controller comprises the outside SDRAM, outside FLASH, ERPROM and MPC5200 micro controller connected movement controller critical module, providing the basic environment for software running of the movement controller, going through serial communication interface configuration and top position specific serial communication protocol, connecting it with the top position machine through CAN, RS232, or USB interface for digital controlled data processing and instruction transmission, separating the controller with the top position machine, easy for distributional high performance control, through signal feedback channel and interface to make rectification, counting of the feedback signal of the motor coder, inputting to the MPC5200 micro controller for computation and sending out the result to the pulse driven motor driver through the PWM output interface.

The invention relates to an intelligent vehicle carrier and a control system and a control method thereof. The intelligent vehicle carrier comprises a travel driving motor, a knockout plate driving motor and a holding arm driving motor, which are all servo motors. The control system comprises a motion controller as the core cell and a plurality of peripheral modules which are connected with the motion controller so that the motion controller can carry out data exchange with the outside. The motion controller comprises a DSP module which is mainly in charge of logical flows and a logical operation module which carries out concrete logic implementation and logical output. The DSP module is connected with the logical operation module. Relative to the prior art, the invention has the followingbeneficial effects: as the servo motors are adopted as power components, the overall height of the intelligent vehicle carrier can be lower, and the motion control precision and response speed are higher; the control system has clear architecture and higher reliability, stability and working efficiency.

The invention relates to a high sound-surround ambiance intelligent sensing interactive motion system and an implementation method thereof; the system consists of a motion platform subsystem, a virtual reality subsystem, and a projection display subsystem; the motion platform subsystem consists of a parallel connection motion platform with N degrees of freedom, a servo motor driver, a motion controller, and a sensor; and the virtual reality subsystem consists of a motion control terminal computer, a network server computer, and a scene-rendering end computer. The projection display subsystem consists of an edge fusion device, a projector, audio equipment, and a dome screen. The invention has the beneficial effects that an immersive virtual reality environment is provided for the motion platform; simultaneously, the virtual reality environment feeds back the control information to the motion platform for realizing the interaction of the motion and the environment, the sound-surround ambiance is enhanced, and the participants is led to have high sense of immersion, thus improving the fitness fun and achieving the effect of keeping healthy.

The invention relates to a high-speed processing-oriented surface quality preferred spline real-time interpolation method, which comprises the following steps of: preprocessing a processing path in an interpreter of a numerical control system to obtain a processing speed curve; inputting the obtained processing speed curve into a motion controller of the numerical control system to perform real-time interpolation; and transmitting coordinate information obtained by the real-time interpolation to a servo device to drive a motor to run. According to a surface quality preferred spline real-time interpolation algorithm provided by the invention, continuous transition of uniaxial acceleration is realized through limitation of uniaxial acceleration and smooth transition of speed curve, so that a smooth processing speed curve is obtained, and automatic adjustment of a speed planning algorithm of different processing intervals is realized.

The invention discloses a track generating method facing toward complex curved surface processing and a track generating system thereof. The track generating method includes that a to-be-processed complex curved surface is chosen and a standard template library (STL) file is generated; layer dividing direction and layer dividing thickness are determined; group dividing is conducted on a triangular patch; the point of intersection is obtained by an incremental method; a coordinate minimum value point of each section point of intersection gather in the direction of being vertical to the layer dividing direction is found out, another point of intersection of the same triangular patch is searched and connected with the minimum value point, and the process continues until the outline of each tangent plane is obtained and eventually the generating route track is obtained. The track generating system comprises an industrial personal computer (PC), a motion controller, a servo driver and an industrial robot body. The industrial PC generates three-dimensional to-be-processed components into a scattered control point set and transmits the control point set to the motion controller. The motion controller conducts an interpolation calculation on the control point set and outputs pulse trains to the servo driver, and drives the industrial robot body to conduct coordinated movement in a torque control mode. The track generating method facing toward complex curved surface processing and the track generating system thereof have the advantages of small calculation quantity, short calculation time, and high calculation efficiency.

Disclosed is an intelligent wheel chair control method based on a brain computer interface and an automatic driving technology. The method comprises the following steps: acquiring current pictures by webcams to perform obstacle localization; generating candidate destinations and waypoints for path planning according to the current obstacle information; performing self-localization of the wheel chair; selecting a destination by a user through the brain computer interface (BCI); planning an optimal path according to the current position of the wheel chair as a starting point and the destination selected by the user as an end point in combination with the waypoints; calculating a position error between the current position of the wheel chair and the optimal path as the feedback of aPID path tracking algorithm; and calculating a reference angular velocity and linear velocity by means of the PID path tracking algorithm and transmitting them to a PID motion controller, converting odometry data from encoders into current angular and linear velocities as a feedback of the PID motion controller, and controlling the driving of the wheel chair in real time to the destination. The intelligent wheel chair control method greatly relieves the mental burden of a user, can adapt to changes in the environment, and improves the self-care ability of patients with severe paralysis.

The utility model relates to a fluid chip detection system and detection method of micro-nano rise system, which is characterized in comprising an incident light generation system, a dual focal fluorescence collection system, a collecting light processing system, a circulation flowing stereo temperature control stage, and a microfluid chip; wherein the incident light generation system comprises at least a light source and a condenser arranged on the output of the light; the dual focal fluorescence collection system comprises a front imaging lens group and a rear imaging lens group and a detector arranged on the output of the post lens group; the collecting light processing system comprises an A / D acquisition card connected with the output of the detector, and a computer connected with the output of the A / D acquisition card; the temperature control stage comprises a motion platform bearing the microfluid chip, the heat transfer media around the motion platform, a heater arranged around the heat transfer media and a heat insulation device arranged outside the heater, the computer is connected with the motion platform through a motion controller, and connected with the heater and a temperature transmitter through a temperature feedback circuit. The utility model has the advantages of simple structure, low cost, high fluorescence efficiency collection and high detection sensitivity, convenient use and easy for promotion and popularization.

Provided is a multi-AUV distributed cooperative tracking control method based on an uncertain ocean current disturbance. The method includes: establishing an AUV kinematic model and a kinematic modelwith the uncertain ocean current disturbance, and initializing a system state, a sampling time and a control parameter; designing a path tracking controller of a leader AUV based on a Serret-Frenet method; proposing a distributed formation kinematic controller of a follower AUV to enable the follower AUV to more adapt to an underwater communication environment; conducting an input-state stabilityanalysis on the kinematic controllers designed for the leader and the follower, and forming distributed motion formation control of the multi-AUV system; and proposing a multi-AUV system kinematic controller containing an uncertain ocean current disturbance compensation item. According to the cooperative tracking control method based on a multi-AUV distributed formation control platform, the information amount of the controllers can be effectively reduced, the influence brought by the uncertain ocean current disturbance is avoided by employing a neural network, and a key base is laid for earlywarning and forecast of ocean disasters and guarantee of an ocean environment.

A method for operating digital-control system based on on-line or off-line control of computer includes erecting digital-control software on computer to integrate product data management information and utilizing digital-control software to work out digital control program to be transmitted to movement controller, using controller to make actuator and motor to drive digital controlled machine to process parts according to digital-control program under off-line mode and carrying out direct-control on movement controller by computer under on-line mode. The system used for realizing said method is also disclosed.

The invention discloses a control system and method of DELTA robots based on visual tracking. Servo drivers and a motion controller in the system are connected through a series bus, the method achieves leak repairing distribution, odd and even distribution and classification distribution by utilizing the servo drivers in series connection, and motion tracks of robots are further optimized. The control system achieves cooperative control over the double DELTA robots, the universality of the system is improved, and the system is easy to set and convenient to debug. The method achieves various cooperative control modes based on the double DELTA robots, and is suitable for different working environments, high in universality and low in miss rate. Meanwhile, the speed and the accuracy that the robots sort target objects are further improved through optimization of the motion tracks, and working efficiency of the robots is improved. The control system and method of the DELTA robots based on visual tracking can be widely applied to the field of industrial robots.

The invention discloses a trajectory tracking control method of an underwater inspection robot. The method comprises the following steps: (1) presetting a reference trajectory for trajectory trackingof the underwater inspection robot, obtaining an optimal path from a starting point to a target point by using a navigation path planning algorithm according to the reference trajectory, and taking the optimal path as a preset reference trajectory of trajectory tracking of the robot; (2) designing a trajectory tracking kinematic controller in combination with the reference trajectory and a kinematic model; (3) carrying out stress analysis on the underwater inspection robot, establishing a dynamic model, and designing a trajectory tracking dynamic controller; and (4) taking a control value of the kinematic controller as input of the dynamic controller to obtain a thrust and a torque required by trajectory tracking, and realizing smooth and stable trajectory tracking control of the underwater inspection robot. By designing a dynamic target function, a problem of speed jump is solved, a lag between an actual trajectory and the reference trajectory is reduced, the shortest tracking step length optimization function item is added into the target function, the path length of the actual trajectory is reduced, and then trajectory tracking energy consumption is decreased; in addition, the influence of the actual underwater environment on trajectory tracking is also considered, and finally smooth and stable trajectory tracking control is realized.

The invention discloses a wheel type mobile robot trajectory tracking method based on a disturbance observer. The slip degree is introduced in the design of a kinematics controller; the difference between an actual pose and an expected pose is expressed; if a wheel type mobile robot can be stabilized in a limited time, namely, an actual movement trajectory and an expected movement trajectory can be coincided in the limited time, based on this, a kinematics linear velocity controller and an angular velocity controller are designed; in the design of a dynamics torque controller, firstly, lumpeddisturbance is introduced, the observer is designed for estimation, and based on this, the dynamics torque controller is designed; and the stability is proved by a Lyapunov function. According to themethod, the problem of how to track the trajectory in the presence of slip, external interference and the like of the wheel type mobile robot can be solved, so that the robot can be subjected to trajectory tracking control.

The invention discloses a grain harvesting and transporting integrated loading device and method based on image recognition, and relates to the technical fields of depth vision, image recognition, agricultural harvesting and internet of vehicle (IOV). Farm implements and agriculture are improved by a stereoscopic vision technology, the automation and agricultural informatization level of a harvester and a grain unloading vehicle is enhanced, and grain or equipment waste caused by human misoperation is avoided while the harvesting efficiency is improved. A self-adaptive operation manner of an existing combine harvester and a following skip car is effectively improved, a skip car human driver (driving robot) can be guided to make more accurately and effectively operation response for the current working condition, and advantageous improvement is made to avoid leakage waste, filling insufficiency and low efficiency in the operation process; and environmental information or decision instructions can be directly imported into a vehicle movement controller to realize transverse or longitudinal control on unmanned farming machinery so as to realize unmanned agricultural operation in the whole process.

The invention discloses a seven-degree-of-freedom bionic somatosensory mechanical arm comprising a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine, a sixth steering engine, a seventh steering engine, a mechanical paw, an inertial system somatosensory system and a controller. The first steering engine, the second steering engine, the third steering engine, the fourth steering engine, the fifth steering engine, the sixth steering engine and the seventh steering engine are connected sequentially through connecting parts, and the rotary axes of every two adjacent steering engines are perpendicular to each other. The mechanical paw is connected with the seventh steering engine, and rotation of the seventh steering engine drives the mechanical paw to be opened or be closed tightly. The inertial system somatosensory system is arranged on an arm of a human body so as to detect motion of the arm of the human body. The controller is connected with the inertial system somatosensory system, obtains the motion of the arm of the human body, outputs seven control signals, and controls the seven steering engines to move coordinately so as to simulate the motion of the arm of the human body. According to the seven-degree-of-freedom bionic somatosensory mechanical arm, the multiple steering engines are combined to simulate bone motion, the response speed is high, a user can set the relative positions of the steering engines according to actual conditions, and the flexibility is high. Change of bones of the arm of the human body can be tracked in real time, the space position of the arm of a person can be located accurately, and the arm of the person can remotely control the mechanical arm through Bluetooth communication.

The invention discloses a real-time self-adaptive contour error estimation method, which can be used for a numerical control system or a contour controller of a robot. The contour error estimation method comprises the steps: generating extra interpolation points by properly modifying a conventional parameter curve interpolation method, wherein the generated extra interpolation points are only used for contour error estimation and do not serve as reference instructions of a motion controller; searching among original interpolation points the nearest point from an actual cutter position, preliminarily determining a search scope; and further determining foot points through a binary search method. A distance between the foot points and an actual cutter point is an estimated contour error. Compared with conventional estimation methods, the real-time self-adaptive contour error estimation method is more accurate in estimation precision. In particular, the method can still have a great effect and exhibit excellent algorithm robustness when the estimation effects of the conventional methods suddenly become bad in a condition with high speed movement and high curvature of a curve. Moreover, the method needs moderate computational complexity, fully meets the requirement of real-time applications, and is highly practical.

The invention discloses a vision-based pose stabilization control method of a moving trolley, which fully considers about a kinematics model and a dynamics model of a trolley and a camera model. The vision-based pose stabilization control method comprises the following steps of: respectively obtaining an initial image and an expected image at a starting pose position and an expected pose position through a camera, and obtaining an existing image in a movement process in real time; by utilizing an antipode geometric relation and a trilinear restrain relation among shot images, designing three independent ordered kinematics controllers based on Epipolar geometry and 1D trifocal tensor by utilizing a three-step conversion control policy; finally designing a dynamic conversion control rule by taking outputs of the kinematics controllers as the inputs of the kinematics controllers by utilizing an retrieval method so that the trolley quickly and stably reaches an expected pose along a shortest path. The invention solves problems in the traditional vision servo method that the dynamics characteristic of the trolley is not considered during pose stability control and slow servo speed is slow, and the vision-based pose stabilization control method is practical and can enable the trolley to quickly and stably reach the expected pose.

The invention discloses an automatic complex special-shaped workpiece welding track generation system which comprises a worktable, a workpiece supporting rotary table, a workpiece clamping system, a machine vision measurement system, a touch display screen and a motion control system, wherein the workpiece supporting rotary table is used for fixing a workpiece, and three-axis movement of the workpiece is achieved by the workpiece clamping system. The workpiece supporting rotary table and the workpiece clamping system are arranged on the worktable, the touch display screen is connected with the motion control system through a circuit and fixed on one side of the worktable through a mounting arm, the machine vision measurement system is fixed on the worktable through a machine vision measurement system supporting table and used for acquiring welding tracks according to acquired workpiece images, and the motion control system comprises a motion controller for driving welding manipulators to weld corresponding profiles. The invention further discloses an automatic complex special-shaped workpiece welding track generation method. The automatic complex special-shaped workpiece welding track generation has the advantages of more adapting workpiece types, rapid track generation, high welding quality and the like.

The invention provides a moving measurement apparatus based on a linear module. The apparatus provided in the invention comprises two major parts: a moving measurement rack and a control system. A substrate of the moving measurement rack is connected with a linear guide rail; a decelerator is connected with a servo motor; the servo motor is connected with the linear guide rail and with servo drivers of the control system; a tow chain of crawler type is fixed on a frame; a support component is constructed by the substrate and the linear module; a raster ruler and a limit switch are connected with a signal interface board of the control system. Besides, monitoring equipment is fixed on a support; an air switch of the control system is connected with breakers; the breakers are connected with contactors; the contactors are connected with filters; relays and a motion controller are connected with a computer through an Ethernet and connected with a manual controller through an RS232 interface; and simultaneously, the relays and the motion controller are connected with servo drivers, the raster ruler and the limit switch through I / O interfaces. The moving measurement apparatus based on a linear module provided in the invention can be used for automatic and accurate positioning of monitoring equipment of a wind tunnel test room or a special trial site.

The invention relates to a plate producing and winding control system which is used for a full-automatic winding machine. The plate producing and winding control system comprises a plate producing sub-control system, and a cell winding sub-control system, wherein the plate producing sub-control system comprises a plate producing programmable controller and a plate producing human-machine interface connected with the plate producing programmable controller, and is used for controlling the related processes of plate unwinding, tab feeding and welding, plate adhering, and plate traction; the cell winding sub-control system comprises a winding programmable controller, a winding human-machine interface connected with the winding programmable controller, and a winding motion controller connected with the winding programmable controller, and is used for controlling the related processes of positive and negative plate cache feeding and offset correction, diaphragm placing and tape replacing, cell winding, cell adhering and cell picking, wherein the winding programmable controller is respectively communicated with a positive plate producing programmable controller and a negative plate producing programmable controller through an IO (input / output) interface. The plate producing and winding control system provided by the invention can complete cell plate producing and cell winding processes continuously, can quickly manufacture single qualified cells from plate rolls and diaphragm rolls, and can alleviate labor force, shorten time, improve production efficiency and save production cost.