35 results about "Robot modeling" patented technology

The invention provides a method for calculating driving force of a planar hydraulic amplification self-healing electrostatic actuator, and belongs to the technical field of robot modeling. According to the method, the driving force is decomposed into electrostatic force generated by an electrostatic field, elastic force generated by an elastic silica gel shell layer and hydrostatic pressure generated by compressing a middle liquid dielectric layer by the elastic silica gel shell layer, and the driving force is obtained by summing after each component force is calculated. The influence of various factors such as the actuator size, the pre-stretching rate, the silica gel shell thickness, the liquid dielectric volume and related material parameters is considered, and the driving force of theactuator can be calculated by simply measuring the parameters such as the actuator size and inputting the voltage. The method is simple and efficient, and can quickly calculate the accurate driving force of the planar hydraulic amplification self-healing electrostatic actuator. The control precision and the driving efficiency of the actuator to robot motion are effectively improved after being applied to a robot system.

The invention discloses a method and device for modeling and static balancing of a two-wheel robot based on drag distance, wherein the method includes: setting the two-wheel robot system as a multi-link multi-joint system, and in the multi-link multi-joint system Define multiple coordinate systems and calculate the drag distance range of the two-wheel robot system; establish two constraint equations and establish a kinematics model according to the closed-loop kinematic chain of the multi-link multi-joint system and the wheel geometric characteristics of the two-wheel robot system; Using the first kind of Lagrangian equation to solve the kinematics model to obtain the dynamic model of the two-wheeled robot, and analyze the singular value of the controllability matrix, the attraction domain of the closed-loop controller and the control cost, according to the analysis results in the drag Determine the trailing distance that meets the control requirements in the distance range. This method can reflect the nonlinear relationship between the handlebar angle and the height of the center of mass under different trailing distances, and can provide a set of analysis procedures for the selection of trailing distances to improve the control effect of static balance.

The provides a modular spherical soft robot connected by magnetic force and relates to the modular soft robot connected by the magnetic force, and the modular soft robot connected by the magnetic force aims at solving the problems that an existing soft robot is complex in modular connection and poor in reliability and cannot be produced modularly in batches. The modular spherical soft robot comprises multiple soft spherical shells and multiple joint connection and drive mechanisms. Every two adjacent soft spherical shells are connected together through one joint connection and drive mechanism. The soft spherical shells are mutually connected to form a robot modeling. Each joint connection and drive mechanism comprises a driving drive module and a driven drive module. Each driving drive module and the corresponding driven drive module are arranged in the same soft spherical shell. Each driving drive module comprises a driving wheel shaft, a shell, two gear pairs, two driving magnet wheels and two motors. Each driven drive module comprises a connecting piece and two driven magnet wheels. Every two adjacent soft spherical shells are connected together through the corresponding driving magnet wheels and the corresponding driven magnet wheels which attract each other. The modular soft robot connected by the magnetic force is used for manufacturing the soft robot.

The invention discloses a method for establishing and solving a manipulator model based on an improved multi-body system transfer matrix. According to the structural characteristics, motion transmission and force transmission relationship of the planar manipulator, the present invention improves the discrete-time transfer matrix method of the multi-rigid body system, establishes a unified model of n-degree-of-freedom serial manipulators, and aims at the relationship between the joint space and the operation space of the manipulator. Based on the two known motion conditions between the two, by setting the boundary conditions, the kinematics and dynamics solution method and process of the system model are proposed. The research object of the present invention is a planar serial robot system. The mathematical model established by using the improved method of the multi-body system discrete time transfer matrix not only has the characteristics of flexible modeling and small calculation scale, but also can cover the kinematics and dynamics characteristics of the system at the same time. , which is more effective than the traditional robot modeling method, embodies the superiority of the new method, and achieves the goals of clear thinking, simple programming and easy realization.

The invention relates to a modeling and controlling method for an automatic aligning and oil exchanging robot. The controlling method can acquire oil filling port coordinate values of the robot underall postures, and high-precision and fully-automatic operation of the entire oil loading and unloading action is realized. The method comprises the following main steps of (1) modeling of the automatic aligning and oil exchanging robot, (2) the debugging phase, and (3) the automatic operation phase.

The invention provides a motion control system and method for electrically-driven a hexapod robot, relates to the field of motion control of hexapod robots, and aims to overcome the defects that a robot is usually low in independent flexibility, low in integral adaptability, low in motion control response speed, strong in dependence on the work environment and the like, and to solve the problem that complexity of the control system is increased because of various degrees of freedom. The control system comprises a foot-type module and a wheel-type module, and the control system is carried out according to the following steps particularly: 1, building a hexapod robot modeling module; 2, building a coordinate system calculating module; 3, controlling a servo motor through a motion controller for accurate position movement, and determining variation of the mass center of a robot platform through a posture motion module by applying a robot coordinate transforming matrix; 4, realizing moving forwards, retreat, left turn, right turn and the like of a wheel-type system. The control system and the control method are applied to the field of motion control of the hexapod robot.

The invention discloses a method for robot precision calibration. The method for robot precision calibration includes the following steps of building a fundamental coordinate system; assigning a theoretical reference coordinate system for each joint of a robot, conducting modeling on the robot through a D-H representation method; building a transformational matrix A<n+1> of every two adjacent joints, and obtaining a total transformation matrix T of the robot through the sequential right multiplication of the transformational matrixes; calculating a theoretical pose X of the tail end of the robot relative to the reference coordinate systems; building an error calculation equation (please see the specifications for the equation) of the robot, and obtaining delta X; and obtaining a parameter error delta P (please see the specifications for the formula) of the robot through a least square method, and the parameter error Pn=P<n-1>+delta P of each joint, and finally compensating the errors to D-H model parameters of the robot. The method for robot precision calibration is easy and convenient to operate and low in cost, and the precision of the robot is improved greatly.

The invention discloses a robot sensor information security enhancement device and method. By adding a protective terminal between the robot sensor and the controller, the trusted connection between the sensor and the robot controller is realized, and the digital quantity and the analog quantity are uniquely encrypted. Key encryption is used to ensure the confidentiality of the transmission process, and the robot modeling audit is used to verify the sensor data from the motion control level to ensure the consistency of the sensor data and the controller, and provide safe and reliable communication for the robot. The technical solution of the present invention can be adapted to different types of robots and sensors, can be deployed more conveniently, better adapts to the industrial field production environment, and can ensure the safety of sensor information transmission and controllers.

The invention provides a wheel-legged robot stress-type motion posture conversion method and system. By establishing an unstructured environment database of a wheel-legged robot, the robot is modeledto obtain a stress-type motion posture module and a control module for stably conversion of each motion posture, so as to establish an external stimuli degree evaluation function of the unstructured environment. The wheel-legged robot performs real-time detection of the stimuli of the external unstructured environment and tracks the own movement posture. The stimuli degree evaluation function is used for determining a corresponding response mode, and the motion conversion module is used for realizing the posture conversion, so that the wheel-legged robot can realize rapid stress-type motion decision according to the changes of the environment; and therefore, the flexibility and adaptability of the robot in a complex unstructured dynamic environment are improved.