Title:
METHOD FOR AUTOMATICALLY PICKING UP NANOWIRES BY MICRO-NANO OPERATION ROBOT ON BASIS OF DYNAMIC MOTION PRIMITIVES
Document Type and Number:
WIPO Patent Application WO/2023/142215
Kind Code:
A1
Abstract:
The present invention relates to a method for automatically picking up nanowires by a micro-nano operation robot on basis of dynamic motion primitives. The method comprises: acquiring a demonstration trajectory of a micro-nano operation robot; determining whether there is motion-in-depth information on the demonstration trajectory of the micro-nano operation robot, wherein if the determination result is "yes", the trajectory is motion in depth, and if the determination result is "no", the trajectory is motion in plane, and dividing the demonstration trajectory of the micro-nano operation robot into a plurality of simple meta-tasks, wherein a division criterion for the meta-tasks is that division is performed according to whether motion in depth is performed; and coding the meta-tasks and establishing a meta-task library, and the micro-nano operation robot calling the meta-tasks in the meta-task library and moving according to trajectories of the meta-tasks. In the present invention, with regard to the operating environment and motion features of a micro-nano operation robot, a complex operation trajectory is divided into a plurality of simple meta-task trajectories, thereby greatly reducing the learning difficulty for the micro-nano operation robot. The method is applicable to robot operation in a micro environment.
Inventors:
YANG ZHAN (CN)
HAN CHIRUI (CN)
CHAO PEIDONG (CN)
FANG LIANG (CN)
ZHANG LVE (CN)
SUN LINING (CN)
HAN CHIRUI (CN)
CHAO PEIDONG (CN)
FANG LIANG (CN)
ZHANG LVE (CN)
SUN LINING (CN)
Application Number:
PCT/CN2022/078316
Publication Date:
August 03, 2023
Filing Date:
February 28, 2022
Export Citation:
Assignee:
UNIV SOOCHOW (CN)
International Classes:
G06T1/00
Foreign References:
| CN113043251A | 2021-06-29 | |||
| CN110561430A | 2019-12-13 | |||
| US9764469B1 | 2017-09-19 | |||
| CN110561450A | 2019-12-13 | |||
| CN110900609A | 2020-03-24 | |||
| CN111890353A | 2020-11-06 | |||
| CN110653824A | 2020-01-07 | |||
| EP3898132A1 | 2021-10-27 |
Attorney, Agent or Firm:
CENTRAL SOUTH WELL INTELLECTUAL PROPERTY OFFICE (CN)
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