Time optimal speed planning method and system based on constraint classification

    公开(公告)号:US11709467B2

    公开(公告)日:2023-07-25

    申请号:US17991936

    申请日:2022-11-22

    CPC classification number: G05B19/041 G06F17/16

    Abstract: A time optimal speed planning method and system based on constraint classification. The method comprises: reading path information and carrying out curve fitting to obtain a path curve; sampling the path curve, and considering static constraint to obtain a static upper bound value of a speed curve; considering dynamic constraint, and combining the static upper bound value of the speed curve to construct a time optimal speed model; carrying out convex transformation on the time optimal speed model to obtain a convex model; and solving the convex model based on a quadratic sequence planning method to obtain a final speed curve. The system comprises: a path curve module, a static constraint module, a dynamic constraint module, a model transformation module and a solving module.

    Composite sine-trapezoidal fringe structured light 3D measurement method

    公开(公告)号:US10914575B1

    公开(公告)日:2021-02-09

    申请号:US17031306

    申请日:2020-09-24

    Abstract: A composite sine-trapezoidal fringe structured light 3D measurement method includes projecting trapezoidal fringe patterns onto a measured object and capturing fringe images; sorting the fringe images by brightness, resolving them into uniform light images and sinusoidal light images, and obtaining a sub-region ordinal number of each image; using the uniform light image to identify a strength response model of the captured fringe image, and obtaining a strength response model parameter; an actual projection strength, a sub-region phase of the sinusoidal light image according to the actual projection strength, a wrapped phase according to sub-region phase and sub-region ordinal number, an absolute phase according to the wrapped phase and sub-region ordinal number, a surface point of the measured object at the positions of a projector pixel and a camera pixel according to the absolute phase, and an object surface model of the measured object by a reconstruction by triangulation.

    MACRO-MICRO INTEGRATED COMPOUND PLATFORM WITH ADJUSTABLE DYNAMIC CHARACTERISTICS

    公开(公告)号:US20170087677A1

    公开(公告)日:2017-03-30

    申请号:US15376658

    申请日:2016-12-13

    CPC classification number: B23Q1/25 B23Q1/34 B23Q11/0039 B25H1/02

    Abstract: The present invention proposes a macro-micro integrated compound platform with adjustable dynamic characteristics. When a macro platform mover and a micro platform mover are driven at the same time, the whole large-scale high-speed motion can be realized; when a motion deviation occurs, a micro motion platform can be driven separately to realize the high-frequency motion deviation compensation, because the micro motion platform has small inertia and zero friction and achieves precision displacement output through elastic deformation. The macro-micro integrated compound platform can realize high-speed precision motion through compound motion control, is mounted and used in a manner consistent with the traditional platform, and is convenient to be popularized and applied; a stiffness and frequency adjustment mechanism and a variable damper are arranged, so that the micro motion platform can transfer the motion of a macro motion platform and isolate the vibration at any frequency, and realize high-precision displacement compensation; meanwhile, damping of the variable damper is matched with the stiffness and frequency parameters to ensure the high-precision displacement compensation at any frequency and increase the range of working frequency.

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