41 results about "Motion optimization" patented technology

The invention discloses a bionic robot arm motion solving and configuration control method; the method utilizes structure features of the robot arm of said type, solves integral motions of the robot arm on the corresponding human arm, and maps the integral motions back to joint spaces of the robot arm for execution. The motion solving method does not rely on the real joint arrangement of the bionic robot arm, can form consistent motions for the bionic robot arms with different joint arrangements yet same arm lengths of big arms and forearms; the method can keep a motion optimization capability, can simulate human in a task processing mode, thus better forming human-like motions. The configuration control method is proposed according to theories in the motion solving method, can control thecomplete configuration of the bionic robot arm, thus ensuring the consistency of the bionic robot arm from motion planning to motion control.

The invention discloses a jumping robot and a motion optimization method adopting inertia matching. The jumping robot consists of a matrix operation controller, an aluminum plate body, a joint drive motor and a motion control algorithm with inertia matching. The system uses the jumping robot as a research object; the jumping motion is divided into three phases of a standing phase, a soaring phase and a falling collision phase; on the basis of variable constraint dynamics, the system establishes a standing phase dynamics equation by using a space floating base, performs optimization research on jumping gesture and load matching by using the inertia matching and direction manipulability and uses five polynomial to plan jumping motions. The simulation and experiment show that when the inertia matching of the jumping robot is maximal, the reaction impulse of the ground is maximal, and the jumping performance is optimal; the jumping height and the inertia matching are in direct proportion; and when the inertia matching is maximal, the jumping gesture of the robot and the load matching are optimal. The inertia matching is an effective jumping motion optimization method.

The invention relates to a moving posture monitoring and guiding method and device based on multiple cameras. The method comprises the following steps: acquiring moving images and / or video data of atleast one target sporter through a plurality of cameras; recognizing a target sporter from the moving image and / or the video data through a posture recognition algorithm, and outputting a human body posture graph required by moving posture monitoring; reconstructing human body three-dimensional posture information of the target sporter through a three-dimensional reconstruction algorithm based onthe human body posture diagram; carrying out skeleton registration on the target sporter and the reference person by utilizing the posture key nodes in the three-dimensional space; comparing the humanbody three-dimensional posture information of the target exerciser after bone registration with the human body three-dimensional posture information of the reference exerciser at a certain moment orwithin a preset time period; evaluating the action completion degree and quality of the target sporter based on the comparison result; and providing feedback to the target sporter based on the evaluation result, the feedback including whether the action reaches the standard and / or a motion optimization suggestion.

The invention provides a seven-degree-of-freedom mechanical arm limiting optimization method based on position-level inverse kinematics, and relates to a seven-degree-of-freedom mechanical arm limiting optimization method. The method aims to solve the problems that an existing numerical solution cannot obtain a closed solution, and final-state self-motion exists; and an analytical solution cannotbe used for offset configuration, and motion optimization cannot be realized. The method comprises the steps that firstly, an analytical solution of seven-degree-of-freedom mechanical arm inverse kinematics is obtained based on a parametric solving method for fixing a certain joint angle; then, the fixed joint angle parameter is used as input, joint limiting is used as an optimization index, and an optimal control problem is established; then, a constrained problem is converted into an unconstrained problem based on a Lagrangian multiplier method; and finally, the optimal joint angle parameteris solved based on a Newton iteration method, and seven joint space trajectories considering joint limiting optimization are obtained by giving an initial configuration, an expected tail end pose anda Cartesian path planning. The method is used for limiting optimization of a seven-degree-of-freedom mechanical arm.

The invention provides a biped walking simulation evaluation system and method of a robot based on six-degree-of-freedom legs. The system comprises a biped robot model and a gait planning algorithm, the biped robot model-1 and the gait planning algorithm-2 are input of the simulation evaluation system, the biped robot model contains the shape and dynamics parameters of the robot, and the gait planning algorithm can be used for planning motion trajectories of more than 20 joints of the whole body according to expected staying footprints; the simulation evaluation system outputs a simulation evaluation result used for evaluating the robot structure and the performance of the gait planning algorithm. Through a computer simulation mode, the purpose of omnidirectional walking motion optimization with more complex parameters and more involved factors is achieved.

A compiler can perform aggressive code motion optimization by respecting value dependence of safety values inserted into the intermediate representation of a computer program. In one embodiment, the present invention includes converting a computer program into an intermediate representation, the intermediate representation containing at least one safety check ensuring the safety of at least one dangerous instruction. In one embodiment, the invention further includes defining a safety value in the intermediate representation as the safety check and including the safety value as a safety argument of the dangerous instruction. In one embodiment, it is determined that the safety check is redundant. In response, in one embodiment, the invention includes updating the safety argument of the dangerous instruction, and eliminating the safety check from the intermediate representation during the safety check elimination optimization. Other embodiments are described and claimed.

A compiler can perform aggressive code motion optimization by respecting value dependence of safety values inserted into the intermediate representation of a computer program. In one embodiment, the present invention includes converting a computer program into an intermediate representation, the intermediate representation containing at least one safety check ensuring the safety of at least one dangerous instruction. In one embodiment, the invention further includes defining a safety value in the intermediate representation as the safety check and including the safety value as a safety argument of the dangerous instruction. In one embodiment, it is determined that the safety check is redundant. In response, in one embodiment, the invention includes updating the safety argument of the dangerous instruction, and eliminating the safety check from the intermediate representation during the safety check elimination optimization. Other embodiments are described and claimed.

Disclosed herein are a humanoid robot and a control method thereof. The humanoid robot controls robot parts performing main motions having high relevance with respect to a commanded action to the humanoid robot such that these robot parts move along optimized motion trajectories generated through motion optimization in consideration of robot dynamics, and controls robot parts performing remaining motions having low relevance with respect to the commanded action such that these robot parts move along predetermined motion trajectories corresponding to the commanded action, thereby simplifying optimization of whole body motions of the humanoid robot while performing the commanded action maximally similarly to a real human action.

The invention discloses a general method for machining the complex curved surface of a non-spherical cutter in the multi-axis-linkage CNC manner. The method comprises the steps of (1) designing the curved-surface generating motion of a cutter relative to a workpiece: firstly, the curved surface of the cutter is described based on a vector function having continuous third-order partial derivatives, and then an envelope surface equation formula for the curved surface of the cutter is obtained with boundary conditions taken into consideration; secondly, a motion optimization functional extremum model formula of the cutter relative to the workpiece and having a minimum machining error, and a motion optimization functional extremum model formula of the cutter relative to the workpiece and having a maximum machining line width are obtained; finally, the above functional extremum model formulas are solved to respectively obtain a motion of the cutter relative to the workpiece at a given machining line width and a minimum curved-surface machining error, and a motion of the cutter relative to the workpiece at a maximum machining line width and a given limit error; (2) realizing the curved-surface generating motion of the cutter relative to the workpiece on a specific machine tool. According to the technical scheme of the invention, the machining accuracy and the machining efficiency of the curved surface are improved through fully developing the machining potential of the multi-axis-linkage CNC.

A robot collision avoidance motion optimization technique using a distance field constraint function. CAD or sensor data depicting obstacles in a robot workspace are converted to voxels, and a three-dimensional binary matrix of voxel occupancy is created. A corresponding distance map matrix is then computed, where each cell in the distance map matrix contains a distance to a nearest occupied cell. The distance map matrix is used as a constraint function in a motion planning optimization problem, where the optimization problem is convexified and then iteratively solved to yield a robot motion profile which avoids the obstacles and minimizes an objective function such as distance traveled. The distance field optimization technique is quickly computed and has a computation time which is independent of the number of obstacles. The disclosed optimization technique is easy to set up, as it requires no creation of geometry primitives to approximate robot and obstacle shapes.

The invention relates to the field of redundant robot motion control research, in particular to a motion optimizing method for a redundant degree-of-freedom robot. The motion optimizing method comprises the steps that a gradient projection method is adopted as the basis, and a joint angle limiting position index and an operability index are adopted for optimizing the gradient projection method. The technical problems that in the prior art, existing gradient projection methods are poor in redundant degree-of-freedom robot inverse kinematics solution optimizing effect, and accumulated errors canbe generated are solved. The problem that the redundant degree-of-freedom robot inverse kinematics solution optimizing effect is poor is solved. The motion optimizing method has higher practicabilityfor the redundant mechanism inverse kinematics solution method, and the robot can obtain the more ideal joint space optimizing effect, the higher position resolving precision and smaller motion tracking errors.

The invention discloses a motion optimization based self-instruction generating method for imaging satellite, a method of converting multiple meta-tasks into on-satellite manipulation-level instructions. According to the method, firstly, based on the motion information equipped to the meta-tasks and the timing sequence relationships among the meta-tasks and through the use of the greedy algorithm, the same type of motions of opening and closing the machine between two adjacent meta-tasks are maximized. Therefore, the execution complexity of software is reduced; the motion sequence of the satellites is effectively planned. And according to the motion sequence and the working state of the current satellite's equipment (for instance, sequestration uses backup to save, digital transmission servo uses the original, and etc.), the corresponding manipulation-level instructions are specified so as to effectively make the satellites more operational, achieve better efficiency and provide technical support to enable the single orbit of agile satellites to complete multiple tasks. In addition, according to the method, abstract definitions are made between the meta-tasks and their corresponding motion information as well as between the timing sequence relationships of the meta-tasks, which allows a user to define themselves. Therefore, the method is very flexible and universal and can be applied to various remote sensing satellites.

The invention discloses a method for optimizing the motion trail of a redundant mechanical arm. The method comprises the steps of building a space obstacle environment model and a mechanical arm model, according to the space obstacle environment model, the mechanical arm model and a preset A * algorithm, determining an initial obstacle avoidance path of the mechanical arm moving from a preset starting point to a preset target point in the obstacle environment; establishing a mechanical arm motion optimization mathematical model on the basis of a preset gradient projection algorithm, determining track optimization vectors according to preset task requirements, and using the mathematical model to optimizing the motion speed of the mechanical arm; and according to the mathematical model, determining a mechanical arm joint motion law between any two adjacent nodes in the initial obstacle avoidance path, and according to the motion law and the trajectory optimization vector, optimizing the initial obstacle avoidance path to obtain an optimized path. According to the method for optimizing the motion trail of the redundant mechanical arm, the technical problem that in the prior art, track optimization of a mechanical arm cannot meet actual requirements is solved.

The invention discloses a non-contact emotional recognition method based on a dual-mode sensor, wherein the non-contact emotional recognition method comprises the following steps: obtaining vital signsignals from echo signals collected by radar sensors, and extracting breathing signals and heartbeat signals from the signals; selecting a human face region from video images collected by video sensors, and obtaining the heartbeat signals and optical flow vector signals according to the human face region; for the heartbeat signals, carrying out heartbeat optimization treatment based on a light intensity method; based on the optical flow vector signals, carrying out body motion optimization treatment on the breathing signals obtained by the radar sensors; for the optimized heartbeat and breathing signals, carrying out characteristic extraction; carrying out characteristic selection on heartbeat characteristics and breathing characteristics, and establishing an emotion recognition model according to the screened characteristics; and according to the emotion recognition model, recognizing the emotion to be recognized. The non-contact measurement not only cannot introduce discomfort, butalso can reduce measurement error, and has the advantages of high recognition accuracy, good robustness and wider applicability.

The invention discloses an optimization method for automatically forming a cutting motion of the section of a cantilever longitudinal shaft type heading machine. The optimization method comprises the following steps of establishing five coordinate systems in a roadway, calculating the coordinate of the ith cutting tooth of a cutting head in an O0-X0Y0Z0 coordinate system according to the coordinate of the ith cutting tooth of the cutting head in an O3-X3Y3Z3 coordinate system, planning the track of the cutting head during horizontal movement by adopting a high-order polynomial transition linear interpolation method, planning the track of the cutting head during non-horizontal movement by adopting a combined sine function curve, and then determining a coordinate sequence of all inflection points on the section of the roadway in a cutting path according to the form of the section of the roadway. According to the optimization method, a correction method is provided for the inflection point positions of the S-shaped cutting paths of different roadway section types, the forming precision of the sections can be further increased, and the method is easy to implement through programs in an automatic section forming control system.

A robot optimization motion planning technique using a refined initial reference path. When a new path is to be computed using motion optimization, a candidate reference path is selected from storage which was previously computed and which has similar start and goal points and collision avoidance environment constraints to the new path. The candidate reference path is adjusted at all state points along its length to account for the difference between the start and goal points of the new path compared to those of the previously-computed path, to create the initial reference path. The initial reference path, adjusted to fit the start and goal points, is then used as a starting state for the motion optimization computation. By using an initial reference path which is similar to the final converged new path, the optimization computation converges more quickly than if a naive initial reference path is used.

A method of analyzing data obtained from sensors 200 worn on the body of an athlete. The sensors 200 provide both location and physiological data. The sensors 200 provide data to a server that can analyze the movement of the athlete and compare it to prior movement or optimal movements. The computer program can determine better motions 300 to optimize performance based on the motion 300 data from the sensors 200. The program can also determine physiological changes for the athlete, such as for example increasing leg strength, to optimize the performance. The program can also analyze and predict the trajectory 805 an object based on the data obtained regarding the athlete's movements and capabilities.

A robot collision avoidance motion optimization technique using a distance field constraint function. CAD or sensor data depicting obstacles in a robot workspace are converted to voxels, and a three-dimensional binary matrix of voxel occupancy is created. A corresponding distance map matrix is then computed, wherein each cell in the distance map matrix contains a distance to a nearest occupied cell. The distance map matrix is used as a constraint function in a motion planning optimization problem, wherein the optimization problem is convexified and then iteratively solved to yield a robot motion profile which avoids the obstacles and minimizes an objective function such as distance traveled. The distance field optimization technique is quickly computed and has a computation time which is independent of the number of obstacles. The disclosed optimization technique is easy to set up, as it requires no creation of geometry primitives to approximate robot and obstacle shapes.

The invention provides a terminal state restricted planet type hybrid power system global optimization method, and belongs to the technical field of new energy vehicles. The method comprises the stepsthat before DP backward motion optimization, system boundary calculation is carried out, an dboundary restriction of a state variable of every moment is obtained, so that the boundary restriction isconsidered in the backward iterative optimization process, and electric quantity balance of the system is achieved. By means of a solution of the boundary restriction, no penalty function is needed, and a large amount of debugging work conducted in order to achieve the electric quantity balance is avoided; meanwhile, robustness of an algorithm is no longer affected by model parameters and operation conditions, the amount of calculation and the time cost are lowered, and the efficiency of optimizing the algorithm is significantly improved.

The invention is suitable for the technical field of a computer, and provides a robot motion optimization method and device, computer equipment and a storage medium. The method concretely comprises the following steps: responding to a motion optimization request of a robot, and constructing the initial motion of the robot according to a method of key frame interpolation; according to the initial motion of the robot, constructing an evaluation function; and according to the evaluation function, optimizing the initial motion of the robot by the adaptive evolutionary strategy algorithm of a covariance matrix. The method solves the technical problem of complex motion optimization of the robot, meanwhile the rate of convergence of the used algorithm is high, and the motion optimization effect is significant. The method is applied to robot kicking, and the kicking distance of the robot can be greatly increased.

The invention discloses a CMG group return nominal configuration control method and system based on zero motion optimization, and a medium, which belong to the technical field of spacecraft attitude control. The method comprises the steps of firstly calculating a frame angular speed reference value according to the frame angular deviation through employing zero motion; and then setting a dynamic return nominal adjustment factor value according to the length of the frame angular deviation vector, so that the integrated frame angular speed is larger when the frame angular deviation is large, andthe integrated frame angular speed is smaller when the frame angular deviation is small. By adopting the method, the problem that the CMG group frame angle is quickly adjusted to the nominal positionunder the condition that the satellite does not influence normal control is well solved. Aiming at the multi-redundancy condition of the CMG group, the high efficiency and rapidity of CMG return nominal are realized in a zero motion mode by utilizing different zero space vector combinations, and the problem that the framework angle of an agile satellite control moment gyro rapidly returns to thenominal position, which is not solved in the prior art, is solved.

A system for an excavating machine comprises a control system operating aspects of the excavation machine; and a monitoring system receiving inputs from one or more sensors determining if the excavating machine is in a first state or a second state. In operation, if the excavating machine is in the first state, then the control system enables the excavating machine to perform a first action; or if the excavating machine is in the second state, then the control system disable the excavating machine to perform the first action.

The invention is suitable for the technical field of motion control and provides a shaft motion control method and device, terminal equipment and a computer readable storage medium. The method comprises steps of a control instruction of a target shaft of shaft motion equipment being acquired; analyzing the control instruction, and determining a motion mode instruction corresponding to the control instruction; and controlling the target axis of the axis motion equipment to move according to the motion mode instruction. According to the method, the terminal equipment analyzes the control instruction and divides the control instruction according to the motion mode instruction in the axis motion control process, and controls the target axis motion according to the corresponding motion mode instruction, and thereby the control logic of the axis motion is optimized, efficiency of the motion control process is improved, and the probability of dangerous faults in the motion control process is reduced.

The invention provides a joint locking failure space manipulator halt optimizing method which comprises the following steps: according to all exercise capacity indicators after standardized processingof a joint locking failure space manipulator, and based on an improved analytic hierarchy process and an entropy method, solving the weight of all exercise capacity indicators to realize comprehensive characterization of exercise capacity of the manipulator, constructing a preferable model of a joint locking failure space manipulator halt configuration, further solving a preferable model of the halt configuration based on the Monte Carlo numerical method, obtaining the optimal halt configuration of the joint locking failure manipulator, then, carrying out motion planning on the manipulator based on a sextic polynomial by taking the halt movement characteristics into consideration, further taking the safety and stability of the manipulator into consideration during the halt process, constructing and solving a space manipulator halt movement optimization model, and finishing halt optimization of the joint locking failure space manipulator. According to the technical scheme, safe and stable halt of the joint locking failure space manipulator can be realized.

The invention provides a passenger flow confluence walking behavior simulation method for a station facility combination part. The method comprises the steps that the layout structure, the geometric dimension and the passenger flow streamline characteristics of a station facility combination part are obtained, and the station facility combination part is divided into a channel straight-going area,a stair area, a confluence area and an exit straight-going area; a classic social force model is used to simulate the walking behaviors of the passenger flow in the passage straight-going area and the exit straight-going area; a three-dimensional social force is introduced to simulate the walking behavior of the passenger flow in the stair area; attraction is introduced, and a turning social force model is used for simulating walking behaviors of pedestrians in a confluence area. According to the method, walking parameters under different scenes are simulated and quantified, the walking stateand the facility area passing rate are constructed to serve as indexes of bottleneck recognition through the relation between time and the layout structure and the geometrical attribute of a channel,and improvement suggestions are provided for confluence area passenger flow motion optimization and facility combination part design.

The invention discloses a motion optimization based self-instruction generating method for imaging satellite, a method of converting multiple meta-tasks into on-satellite manipulation-level instructions. According to the method, firstly, based on the motion information equipped to the meta-tasks and the timing sequence relationships among the meta-tasks and through the use of the greedy algorithm, the same type of motions of opening and closing the machine between two adjacent meta-tasks are maximized. Therefore, the execution complexity of software is reduced; the motion sequence of the satellites is effectively planned. And according to the motion sequence and the working state of the current satellite's equipment (for instance, sequestration uses backup to save, digital transmission servo uses the original, and etc.), the corresponding manipulation-level instructions are specified so as to effectively make the satellites more operational, achieve better efficiency and provide technical support to enable the single orbit of agile satellites to complete multiple tasks. In addition, according to the method, abstract definitions are made between the meta-tasks and their corresponding motion information as well as between the timing sequence relationships of the meta-tasks, which allows a user to define themselves. Therefore, the method is very flexible and universal and can be applied to various remote sensing satellites.

The invention discloses a point cloud global motion optimization method, and the method comprises the steps that a motion matrix initial value of each visual angle is reconstructed into a low-rank sparse matrix, and then the matrix recovery is carried out; under the condition that any two visual angles are known to move, a universal constraint condition is put forward to be added into an iterationprocess, the iteration frequency is effectively limited, the algorithm efficiency is improved, and the influence caused by random noise is reduced; a Cauchy weight item is added to measure the reliability of pairwise visual angle measurement, the influence of outliers is effectively reduced, and the robustness of the algorithm is improved; the method is suitable for solving an accurate global motion problem of a known multi-view point cloud relative motion initial value and real values of any two view changes. The method aims to solve the problems that a multi-view point cloud global optimization method in dimensional reconstruction excessively depends on registration initial values, robustness is not high and efficiency is low, random noise and abnormal values in initial motion are eliminated, point cloud global motion recovery precision is improved, and a more accurate reconstruction model is obtained.

The invention discloses a bionic robot arm motion solving and configuration control method; the method utilizes structure features of the robot arm of said type, solves integral motions of the robot arm on the corresponding human arm, and maps the integral motions back to joint spaces of the robot arm for execution. The motion solving method does not rely on the real joint arrangement of the bionic robot arm, can form consistent motions for the bionic robot arms with different joint arrangements yet same arm lengths of big arms and forearms; the method can keep a motion optimization capability, can simulate human in a task processing mode, thus better forming human-like motions. The configuration control method is proposed according to theories in the motion solving method, can control thecomplete configuration of the bionic robot arm, thus ensuring the consistency of the bionic robot arm from motion planning to motion control.

The invention provides a terminal state restricted planet type hybrid power system global optimization method, and belongs to the technical field of new energy vehicles. The method comprises the stepsthat before DP backward motion optimization, system boundary calculation is carried out, an dboundary restriction of a state variable of every moment is obtained, so that the boundary restriction isconsidered in the backward iterative optimization process, and electric quantity balance of the system is achieved. By means of a solution of the boundary restriction, no penalty function is needed, and a large amount of debugging work conducted in order to achieve the electric quantity balance is avoided; meanwhile, robustness of an algorithm is no longer affected by model parameters and operation conditions, the amount of calculation and the time cost are lowered, and the efficiency of optimizing the algorithm is significantly improved.

The present invention provides a method for optimizing the axis motion of a six-axis robot in a three-dimensional printing device, comprising the following steps: step S1, collecting the structural lattice model data of the 3D model to be printed; step S2, importing the structural lattice model data In the 3D printer, step S3, selecting the axis joint to be optimized; step S4, defining the target point to be printed in the structural lattice model data as the target origin coordinate P; step S5, comparing the target origin coordinate P with the axis to be optimized A mechanical transformation structural formula is established between the joints; step S6, according to the action angle required by the shaft joints, the movement trajectory angle of the print target origin coordinate P is reversed from the mechanical transformation structural formula. The invention discloses a convenient and stable axis motion optimization method suitable for a six-axis robot in a three-dimensional printing device.