摘要:
Systems (100) and methods (800) for visually rendering a multi-dimensional model of a portion of a system (100) having mechanical joints (228-238). The methods comprise: determining a first current physical joint configuration of a first mechanical joint and a second current physical joint configuration of a second mechanical joint; determining at least one first viewing direction (d234) along a rotational axis or perpendicular to a linear extension axis (a234) of the first mechanical joint (234) having the first current physical joint configuration and at least one second viewing direction (d236) along a rotational axis or perpendicular to a linear extension axis (a236) of the second mechanical joint (236) having the second current physical joint configuration; computing an avatar view perspective direction (σ234-236) based on the first and second viewing directions; and dynamically adjusting a perspective view of a visually rendered multi-dimensional model of the system using the avatar view perspective direction.
摘要:
The invention relates to a method and apparatus as well as to a computer program for adjusting the operation of a hydraulically operated boom, the boom (1) comprising at least two mutually movably coupled boom parts (1a, 1b), which are coupled to move with respect to one another by means of a hydraulic actuator (5a-5b, 7a-7b), control means (13, 14) for controlling the hydraulic actuators, a detector (15) for detecting the position between the boom parts (1a, 1b), whereby for adjusting the operation of the boom (1) it is possible to configure a movement-specific adjustment parameter of the joint controller in the control means (13, 14) for each particular movement. In the invention the mutual movement of the boom parts (1a, 1b) is controlled with respect to a predetermined position, on both sides thereof, between the boom parts (1a, 1b), the actual position and motional speed values obtained from the detector (15) in response to the control signal are compared with the theoretical position and motional speed values, and the adjustment parameter of the joint controller is adjusted on the basis of the difference between the values.
摘要:
Systems (100) and methods (800) for visually rendering a multi-dimensional model of a portion of a system (100) having mechanical joints (228-238). The methods comprise: determining a first current physical joint configuration of a first mechanical joint and a second current physical joint configuration of a second mechanical joint; determining at least one first viewing direction (d234) along a rotational axis or perpendicular to a linear extension axis (a234) of the first mechanical joint (234) having the first current physical joint configuration and at least one second viewing direction (d236) along a rotational axis or perpendicular to a linear extension axis (a236) of the second mechanical joint (236) having the second current physical joint configuration; computing an avatar view perspective direction (σ234-236) based on the first and second viewing directions; and dynamically adjusting a perspective view of a visually rendered multi-dimensional model of the system using the avatar view perspective direction.
摘要:
A simulation platform (110) including a calculating element suitable for executing the commands of a simulation program (300), includes: a module for configuring an environment into three dimensions (310); a module for simulating a response of a sensor of the robot (320, 330); and a module for simulating a dynamic of the robot (340). The simulation program includes, in addition, a time-sequencing module (350) including: a logic clock (410) outputting the current logic time; a sequencing scheme (400) associating a set of actions to be performed with each logic time; a sub-module for calling a simulation action (440) suitable for initiating the execution of a simulation action; and a sub-module for calling a reaction action of the robot (450), suitable for initiating the execution of a response action of the robot.
摘要:
The invention relates to a method and apparatus as well as to a computer program for adjusting the operation of a hydraulically operated boom, the boom (1) comprising at least two mutually movably coupled boom parts (1a, 1b), which are coupled to move with respect to one another by means of a hydraulic actuator (5a-5b, 7a-7b), control means (13, 14) for controlling the hydraulic actuators, a detector (15) for detecting the position between the boom parts (1a, 1b), whereby for adjusting the operation of the boom (1) it is possible to configure a movement-specific adjustment parameter of the joint controller in the control means (13, 14) for each particular movement. In the invention the mutual movement of the boom parts (1a, 1b) is controlled with respect to a predetermined position, on both sides thereof, between the boom parts (1a, 1b), the actual position and motional speed values obtained from the detector (15) in response to the control signal are compared with the theoretical position and motional speed values, and the adjustment parameter of the joint controller is adjusted on the basis of the difference between the values.