CN109015627A - Big machinery arm posture perception method and system - Google Patents
Big machinery arm posture perception method and system Download PDFInfo
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- CN109015627A CN109015627A CN201810511404.5A CN201810511404A CN109015627A CN 109015627 A CN109015627 A CN 109015627A CN 201810511404 A CN201810511404 A CN 201810511404A CN 109015627 A CN109015627 A CN 109015627A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention discloses a kind of big machinery arm posture perception method and systems, the method is the three-dimensional distance information acquired between each base station and each collection point of cantilever crane to be measured, according to the kinetic characteristic of big machinery arm and space geometry relationship, three-dimensional distance information dimensionality reduction is calculated into obtain two-dimensional distance information, structure based on source localization method combination big machinery arm is basic founding mathematical models with two-dimensional distance information, solve to obtain two-dimentional calculating information, two dimension is calculated into information and rises dimension into three-dimensional computations information, all three-dimensional computations information obtained are the real-time perception posture of the big machinery arm；The system comprises multiple base stations, several distance measuring sensors and information processing centres.Compared with prior art, big machinery arm posture perception method and system provided by the invention can avoid accumulated error, guarantee coordinate computational accuracy, the posture perception task suitable for various same type big machinery arms.
Description
Technical field
The present invention relates to engineering equipment technology field more particularly to a kind of big machinery arm posture perception method and system.
Background technique
Big machinery arm refers to that is be made of a series of hinges and metal arm frame pours the large size of task for heavy construction
Cantilever crane to be measured.Existing cantilever crane to be measured, the cantilever crane for the multistage regular length that is generally mainly connected by a hinge in actual use, fortune
It needs worker that the hose for being mounted on mechanical arm tail end furthers target position during sending concrete, and draws in casting process
Lead completion.Ideally, every section of connecting rod and joint are in same plane when cantilever crane works, by the turntable being mounted on pump truck
Horizontal direction rotation is provided, still, easily occurs whirling vibration and elastic shape since cantilever crane length is generally longer, in rotary course
Become, and ambient enviroment is likely to occur the interference of the barriers such as trees, building, human body, and mechanical arm operation process is caused to collide,
So as to cause extremely fatal engineering accident, the heavy losses in terms of manpower financial capacity are caused.
Most of traditional cantilever crane posture perception method is the measurement based on obliquity sensor, fills one between two connecting rods
Then obliquity sensor successively finds out the posture of cantilever crane from turntable to arm point；The geometry knot of its also with good grounds fluid power system
Structure, the elongation of hydraulic stem is measured by the stroke sensor of hydraulic cylinder, then calculates the angle between phase interconnected rod, to determine appearance
State, these methods are all that the geometrical relationship at each section of connecting rod and inclination angle from turntable to end is utilized to obtain terminal position；Also useful
Population localization method positions cantilever crane artis, using take at random on a large scale searching cantilever crane artis and end position
It sets, calculates cantilever crane posture；In addition, somebody utilizes binocular vision system, mechanical arm image is monitored in real time, is extracted three-dimensional
Characteristics of image completes cantilever crane Attitude Calculation.
But there are some drawbacks for process as described above: 1, often there is accumulation based on angle and connecting rod geometrical relationship
Error and elastic deformation, lower for posture perception efficiency, accuracy is not high；2, conventional source positioning posture cognitive method uses
Method a little is taken at random, does not make full use of the kinetic characteristic of cantilever crane to be measured, and computation complexity is high, and real-time is poor；3, binocular vision
Feel that system cost is high, be overly dependent upon camera visual angle, at the same ignore its kinetic characteristic and rainwater that outdoor environment is likely to occur,
Shelter (such as trees), influences system stability.
Summary of the invention
The purpose of the present invention is overcome the above problem or it is at least part of solve the above problems, incorporation engineering mechanical arm
Kinetic characteristic provides a kind of mechanical arm posture perception method and system of high-precision low complex degree using Mathematics Optimization Method,
The emulation data and mechanical arm real-time status obtained by the cognitive method and system are very close, error very little.
To achieve the goals above, a goal of the invention of the invention is to provide a kind of big machinery arm posture perception side
Method, the method is the three-dimensional distance information acquired between each base station and each collection point of cantilever crane to be measured, according to the fortune of big machinery arm
Three-dimensional distance information dimensionality reduction is calculated to obtain two-dimensional distance information by dynamic characteristic and space geometry relationship, is combined based on source localization method
The structure of big machinery arm is basic founding mathematical models with two-dimensional distance information, solves to obtain two-dimentional calculating information, and two dimension is counted
It calculates information and rises dimension into three-dimensional computations information, all three-dimensional computations information of acquisition are the real-time perception appearance of the big machinery arm
State；Wherein, range information include each base station between base station at a distance from, each distance measuring sensor between distance measuring sensor at a distance from and respectively
Base station between each distance measuring sensor at a distance from.
Preferably, the big machinery arm posture perception method includes the following steps:
S1, cantilever crane lay several nothings that cantilever crane artis to be measured or desired point environment is completely covered in initial position
Distance measuring sensor is installed in line base station at cantilever crane artis to be measured or desired point；
S2 measures the distance between each base station and each artis of cantilever crane to be measured or desired point by distance measuring sensor, according to
Each three-dimensional distance information measured establishes range data library；
S3 has the movement for working in a plane and artis linkage cooperation according to big machinery cantilever crane in operation
Each three-dimensional distance information in range data library obtained by step S2 is reduced dimension and calculates two-dimentional by characteristic and space geometry relationship
Range information, by each two-dimensional distance information update of gained to range data library；
S4 is equipped with the structure feature of multiple artis in conjunction with mechanical cantilever crane according to source localization method, based on obtained by step S3
Each two-dimensional distance information founding mathematical models and Optimization Solution, the two dimension for obtaining each artis of cantilever crane to be measured or desired point calculate letter
Each two dimension is calculated information and is reduced to its three-dimensional computations information using the inverse process of step S3 by breath；
S5 when cantilever crane carries out certain dynamic job, repeats step S2 to step S4, at this time by t moment obtained by step S4
Three-dimensional computations information carries out simulation calculation, all three-dimensionals at gained t+x moment as the t+x moment three-dimensional distance information of step S2
Calculate the real-time perception posture that information is the big machinery arm t+x moment；Wherein, the change of t when x is same cantilever crane dynamic job
Change value.
Preferably, in step sl, the specific equipment for laying installation include base station known to multiple coordinates and
Unknown artis distance measuring sensor.
Preferably, step S1 is specifically included:
S11, lays wireless base station, and cantilever crane artis or desired point to be measured is completely covered in the range of signal of the wireless base station
Environment, while demarcating base station coordinates；
S12, installs distance measuring sensor at cantilever crane artis to be measured or desired point, distance measuring sensor require can with ranging and
Communication.
Preferably, step S12 specifically should also meet: laying number of base stations is at least 4, and installation position not Ying Yi
In a plane, base station should be distributed in the both sides of cantilever crane working face.
Preferably, the specific method for measuring distance in step S2 includes jet lag telemetry, arrival time method, arrives
Up to time difference method, received signal strength indicator method, angle of arrival method or direction horn cupping etc..
It is further preferred that the range data library that step S2 is previously mentioned includes each base station coordinates, each base that step S1 is saved
It the distance between stands, the distance between each distance measuring sensor and the distance between each base station and each distance measuring sensor, it is specific to walk
Suddenly include:
S21: mutually sending signal between each base station and each distance measuring sensor, measure each base station between base station at a distance from, it is each
Distance measuring sensor between distance measuring sensor at a distance from and the distance between each base station and each distance measuring sensor (three-dimensional distance information),
Above-mentioned gained three-dimensional distance information is subjected to information processing；
S22: according to the initial three-dimensional distance information of artis or desired point after step S21 information processing or t-x moment
The history three-dimensional computations information of artis or desired point, passes through formula dij=C τijEach anchor point three-dimensional computations information of t moment is obtained,
(method ranging without being limited thereto in the present invention, can also pass through any other distance measuring method of the prior art such as signal strength, angle of arrival
The methods of carry out ranging)；
S23: range data library is established according to three-dimensional distance information obtained by step S21 and step S22 and three-dimensional computations information；
Wherein, dijFor the distance between each distance measuring sensor to each base station, C is the light velocity, τijFor the propagation of measurement parameter signal
Time.
Big machinery cantilever crane has the kinetic characteristic for working in a plane and artis linkage cooperation, step in operation
The purpose of rapid S3 dimensionality reduction is the dimension for combining mechanical arm kinetic characteristic to reduce coordinates computed, so that the complexity of algorithm is reduced,
Preferably, step S3 detailed process includes:
S31: cantilever crane working face to be measured is determined under three-dimensional reference coordinate, and establishes reference frame；
S32: the range data library established according to step S2 traverses the three-dimensional distance information of all distance measuring sensors, first will
The resulting t moment distance of step S2 is projected to working face, then does dimension-reduction treatment using the kinetic characteristic of cantilever crane to be measured,
Obtain two-dimensional distance information；
S33: traversing all distance measuring sensors, will calculate gained two-dimensional distance information update to range data library.
Preferably, modeling and solution procedure specifically include in the S4 step:
S41: number is determined in conjunction with the two-dimensional distance information in step S3 range data library according to the structure feature of cantilever crane to be measured
Learn some matrixes and parameter needed for model, founding mathematical models；
S42: using the mathematical model established in Optimization Method step S41, and the ranging that Optimization Solution is obtained passes
Sensor two dimension calculates information, and the three-dimensional computations information of distance measuring sensor is reduced into using the inverse process of step S3, updates and arrives distance
In database, it to be used for t+x moment cantilever crane posture perception task to be measured.
Preferably, the distance battle array that step S41 is previously mentioned be by anchor node distance, the distance between distance measuring sensor with
The distance between distance measuring sensor and base station after conversion.
Preferably, the optimization method being previously mentioned in step S42 should be chosen properly according to the model that step S41 is established
Optimization method, specific method includes: least square method (SR-LS) based on ranging square, euclidean distance method (EDM), partly just
Set pattern draws (SDP) etc..
The pumping vehicle arm rack as used in reality is present in three-dimensional space, so step S42 should also after resolving
Two dimension is calculated into information and is converted into three-dimensional computations information, method for transformation is the inversion of step S32.
Preferably, in step S5 dynamic job, since distance measuring sensor coordinate position will not be sent out between adjacent moment
Raw large change, the calculated value (i.e. calculating information) that the t-x moment can be used constitute the mathematical model parameter of t moment, and again
Repeat the process of step S2 to S4；I.e. using t moment three-dimensional computations information obtained by step S4 as the t+x moment three-dimensional of step S2 away from
Simulation calculation is carried out from information, all three-dimensional computations information at gained t+x moment are the real-time of the big machinery arm t+x moment
Perceive posture；Wherein, the changing value of t when x is same cantilever crane dynamic job；It should be noted that in same cantilever crane dynamic job
In, x can be set as definite value in initialization in step S5.
The engineering machinery arm attitude sensing system based on Mathematics Optimization Method that it is a further object to provide a kind of,
Including multiple base stations, several distance measuring sensors and information processing centre；Wherein,
The base station includes communication module, sends the wireless communication for having specific range information to remaining base station for timing
Number, while for carrying out information transmitting between each distance measuring sensor, multiple base stations, which are laid, need to be completely covered cantilever crane work to be measured
Environment；
The distance measuring sensor includes communication module and message processing module, and wherein communication module is for receiving Base Transmitter
Signal, to information processing centre transmission data, the functions such as calling, preliminary treatment of the message processing module for range information；
The information processing centre includes communication module and data processing module, for by the received artis of t moment or
It is three-dimensional computations information that the three-dimensional distance information of desired point, which resolves, or continuing to resolve according to the three-dimensional computations information of t moment is t+x
The three-dimensional computations information at moment.
Compared with prior art, the pump truck mechanical arm exact posture perception side provided by the invention based on Mathematics Optimization Method
Method and system obtain between sensor node and base station the distance between sensor using basic distance measuring method first, then utilize machine
Tool cantilever crane kinetic characteristic reduces dimension, reduces computational complexity, establishes mathematical model based on source localization method, optimize simultaneously
The coordinate for solving five artis, avoids accumulated error, ensure that coordinate computational accuracy, is suitable for various same type mainframes
The posture perception task of tool arm compensates for the deficiency of three Existing methods cost, complexity, precision aspects.
Detailed description of the invention
Fig. 1 is posture perception method flow diagram of the invention；
Fig. 2 is that attitude sensing system facility of the invention lays exemplary diagram；
Fig. 3 is the coordinate dimensionality reduction exemplary diagram of posture perception method of the invention；
Fig. 4 is that posture perception method of the invention projects the schematic diagram after dimensionality reduction；
Fig. 5 is the simulation result of posture perception method of the invention.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
It is provided by the invention to be based on mathematical optimization as shown in Fig. 1 flow chart for surveying pump truck machinery cantilever crane real-time attitude
The big machinery arm posture perception method of method can be realized in accordance with the following steps:
(1) base station of this example is laid and distance measuring sensor installation is as shown in Figure 2, wherein this example has been laid such as triangle
Four base station Q shown in shape and five artis distance measuring sensor P, establish the three-dimensional rectangular coordinate using turntable as origin
System.
(2) the ranging stage issues distance measuring signal by base station, and distance measuring sensor receives signal, and analytic signal simultaneously obtains base station
The distance between distance measuring sensor；Apart from not far, non line of sight misses the base station distance distance measuring sensor laid by step S1
Difference can be ignored, specific distance measuring method are as follows:
By TOA technology, each distance measuring sensor is obtained to the time between four base stations, then measuring distance can be by light velocity C
With measurement parameter signal propagation time τijMultiplication obtains:
dij=C τij (1)
By each distance measuring sensor being calculated to the distance between four base stations dij, it is initial between each distance measuring sensor
Calculating distance (i.e. three-dimensional computations information obtained by the t-x moment) and each base station between distance or t-x moment each distance measuring sensor
The distance between be stored in range data library.
(3) it according to manipulator motion characteristic and space geometry relationship, reduces attitude sensing system and calculates dimension, update distance
Database；
Assuming that distance measuring sensor PiCoordinate is (xi, yi, zi), the distance measuring sensor coordinate after dimensionality reduction is (ai, bi), Fig. 3 exhibition
The projection process of cantilever crane vertical direction working face to be measured is shown, A ' OZ plane is the working face of cantilever crane to be measured, in XOY
Projection on face is that y=kx (k=tan θ), A and A ' illustrate a projection instance, and specific projection process presses formula (2) and formula
(3) it is resolved:
Wherein, (xi, yi, zi) be i-th of sensor three-dimensional distance information, θ is cantilever crane working face to be measured and x-axis
Angle, corresponding (ai, bi) it is the later two-dimensional distance information of dimensionality reduction, DijFor the d after projectionij；
Coordinate plane after projection is as shown in figure 4, believe gained two-dimensional distance after the completion of three-dimensional distance information projection dimensionality reduction
Range data library is added in breath.
(4) founding mathematical models (Euclidean distance battle array is constructed in the present embodiment) and solving model, call optimization packet to solve
And the accurate coordinates of each artis are obtained as a result, and the result acquired update is specifically constructed Europe into range data library
Process of the formula apart from battle array and model solution is as follows:
(a): according to classical Euclidean distance battle array constructive method, Euclidean distance battle array G should be passed by the distance between each base station, each ranging
Distance and each base station between sensor are constituted at a distance from each distance measuring sensor, and specific composition is as follows:
Wherein, A is collection of base stations, and S is distance measuring sensor set, DijIt is the later distance of dimensionality reduction；
(b): the solution mathematical model such as formula (4) is established according to classical Euclidean distance battle array method:
Wherein, LkjIt is k-th of distance measuring sensor the distance between to j-th of distance measuring sensor, then when k and j difference is 1
When, LkjIt is exactly the length of connecting rod, H is weighting matrix, and the matrix X matrix of solution meets:
(c): the two dimension for calling convex optimization packet to solve distance measuring sensor calculates information, then also using the inverse process of step S3
The three-dimensional computations information of former distance measuring sensor, and updated in range data library；
(5) it when turntable rotary motion or cantilever crane operation to be measured, calls range data library and repeats step S2 to S4.
It is shown in fig. 5 emulation assume that noise be mean value (mean value 0), variance for 1 Gaussian noise in the case of as a result,
Wherein bold portion is the true posture of cantilever crane, and dotted portion has used the cantilever crane posture reappeared after method provided by the invention, tool
The emulation data such as following table (unit: m) of body:
After using method proposed by the invention it can be seen from upper table and Fig. 5, system distance measuring sensor meter calculated
Calculate information point very close true coordinate.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
It has been disclosed in a preferred embodiment above, however, it is not intended to limit the invention.Therefore, all without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (10)
1. big machinery arm posture perception method, it is characterised in that: the cognitive method is that each base station of acquisition and cantilever crane to be measured are each
Three-dimensional distance information between collection point, according to the kinetic characteristic of big machinery arm and space geometry relationship, by three-dimensional distance information
Dimensionality reduction calculates to obtain two-dimensional distance information, and the structure based on source localization method combination big machinery arm is based on two-dimensional distance information
Founding mathematical models solve to obtain two-dimentional calculating information, and two dimension is calculated information and rises dimension into three-dimensional computations information, and all the three of acquisition
Dimension calculates the real-time perception posture that information is the big machinery arm；Wherein, range information include between each base station and base station away from
From, each distance measuring sensor between distance measuring sensor at a distance from and each base station between each distance measuring sensor at a distance from.
2. big machinery arm posture perception method according to claim 1, which comprises the steps of:
S1, cantilever crane lay several wireless bases that cantilever crane artis to be measured or desired point environment is completely covered in initial position
It stands, distance measuring sensor is installed at cantilever crane artis to be measured or desired point；
S2 measures the distance between each base station and each artis of cantilever crane to be measured or desired point by distance measuring sensor, according to measuring
Each three-dimensional distance information establish range data library；
S3 has the kinetic characteristic for working in a plane and artis linkage cooperation according to big machinery cantilever crane in operation
With space geometry relationship, each three-dimensional distance information in range data library obtained by step S2 is reduced into dimension and calculates to obtain two-dimensional distance
Information, by each two-dimensional distance information update of gained to range data library；
S4 is equipped with the structure feature of multiple artis in conjunction with mechanical cantilever crane according to source localization method, based on each two obtained by step S3
Range information founding mathematical models and Optimization Solution are tieed up, the two dimension for obtaining each artis of cantilever crane to be measured or desired point calculates information,
Each two dimension is calculated into information and is reduced to its three-dimensional computations information using the inverse process of step S3；
S5 when cantilever crane carries out certain dynamic job, repeats step S2 to step S4, at this time that t moment obtained by step S4 is three-dimensional
The t+x moment three-dimensional distance information that information is calculated as step S2 carries out simulation calculation, all three-dimensional computations at gained t+x moment
Information is the real-time perception posture at the big machinery arm t+x moment；Wherein, the variation of t when x is same cantilever crane dynamic job
Value.
3. big machinery arm posture perception method according to claim 2, which is characterized in that step S1 is specifically included:
S11, lays at least four wireless base stations, and cantilever crane artis to be measured is completely covered in the range of signal of four wireless base stations
Or desired point environment, while demarcating base station coordinates；
S12 installs distance measuring sensor at cantilever crane artis to be measured or desired point；
Wherein, the distance measuring sensor is equipped with communication module and message processing module, and the base station installation position is not same flat
On face.
4. big machinery arm posture perception method according to claim 2, it is characterised in that: the distance measuring method of step S2 selects
From jet lag telemetry, arrival time method, reaching time-difference method, received signal strength indicator method, angle of arrival method or direction
Horn cupping.
5. big machinery arm posture perception method according to claim 2, which is characterized in that step S2 is specifically included:
S21 mutually sends signal between each base station and each distance measuring sensor, measure each base station between base station at a distance from, each ranging
Sensor between distance measuring sensor at a distance from and the distance between each base station and each distance measuring sensor, by above-mentioned surveyed three-dimensional distance
Information carries out information processing；
S22, according to the initial three-dimensional distance information of artis or desired point after step S21 information processing or the moment joint t-x
The history three-dimensional computations information of point or desired point obtains each anchor point three-dimensional computations information of t moment；
S23 establishes range data library according to three-dimensional distance information obtained by step S21 and step S22 and three-dimensional computations information；
Wherein, dijFor the distance between each distance measuring sensor to each base station, C is the light velocity, τijFor measurement parameter signal propagation time.
6. big machinery arm posture perception method according to claim 2, which is characterized in that step S3 is specifically included:
S31 determines cantilever crane working face to be measured under three-dimensional reference coordinate, and establishes reference frame；
S32 traverses the three-dimensional distance information of all distance measuring sensors according to the range data library that step S2 is established, by step S2 institute
It obtains three-dimensional distance information to be projected to working face, does dimensionality reduction using the kinetic characteristic of cantilever crane to be measured and calculate to obtain two-dimensional distance letter
Breath, gained two-dimensional distance information update to range data library.
7. big machinery arm posture perception method according to claim 2, which is characterized in that step S4 is specifically included:
S41 determines mathematical modulo in conjunction with the two-dimensional distance information in step S3 range data library according to the structure feature of cantilever crane to be measured
Matrix and parameter needed for type construct mathematical model；
S42 obtains distance measuring sensor two dimension meter using the mathematical model established in Optimization Method step S41, and by solution
Information is calculated, the three-dimensional computations information of distance measuring sensor is reduced into using the inverse process of step S3, is updated to range data library, and make
For t+x moment cantilever crane three-dimensional distance information to be measured.
8. big machinery arm posture perception method according to claim 7, it is characterised in that: the optimization method of step S42
It (is preferably only write in claims preferably selected from least square method, euclidean distance method or semi definite programming based on ranging square
Optimization method, tell somebody what one's real intentions are in listed optimization method have been written into claim 8, if there are also other methods to supplement, explanation can be filled into
In book).
9. big machinery arm posture perception method according to claim 7, it is characterised in that: step S3 described in step S42
Inverse process refer to that gained two dimension, which is calculated information, by the inversion of S32 is converted into three-dimensional computations information.
10. big machinery arm attitude sensing system according to claim 1, it is characterised in that: the sensory perceptual system includes
Multiple base stations, several distance measuring sensors and information processing centre；Wherein,
The base station includes communication module, sends the wireless signal for having specific range information to remaining base station for timing, together
When for carrying out information transmitting between each distance measuring sensor, multiple base stations, which are laid, need to be completely covered cantilever crane working environment to be measured；
The distance measuring sensor includes communication module and message processing module, and wherein communication module is used to receive the letter of Base Transmitter
Number, to information processing centre transmission data, the functions such as calling, preliminary treatment of the message processing module for range information；
The information processing centre includes communication module and data processing module, for by the artis or expectation of the reception
Point three-dimensional distance information resolve be three-dimensional computations information, or according to the three-dimensional computations information at the moment continue resolve be t+x when
The three-dimensional computations information at quarter.
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| CN109732609A (en) * | 2019-02-21 | 2019-05-10 | 电子科技大学中山学院 | Redundant degree of freedom mechanical arm motion planning method and device |
| CN113547519A (en) * | 2021-06-25 | 2021-10-26 | 北京精密机电控制设备研究所 | Mechanical arm inverse kinematics solving method based on variable-dimension scaling |
| CN113658247A (en) * | 2021-07-29 | 2021-11-16 | 武汉联影智融医疗科技有限公司 | Instrument space prediction method and device, computer equipment and storage medium |
| CN113679379A (en) * | 2021-07-14 | 2021-11-23 | 深圳大学 | Human body posture estimation method, device, equipment, system and medium based on sound waves |
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| CN113679379B (en) * | 2021-07-14 | 2024-06-04 | 深圳大学 | Human body posture estimation method, device, equipment, system and medium based on sound wave |
| CN113658247A (en) * | 2021-07-29 | 2021-11-16 | 武汉联影智融医疗科技有限公司 | Instrument space prediction method and device, computer equipment and storage medium |
| CN113658247B (en) * | 2021-07-29 | 2024-05-28 | 武汉联影智融医疗科技有限公司 | Instrument space prediction method, apparatus, computer device and storage medium |
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