CN101505925B - 接近机床运动学奇点并补偿 - Google Patents

接近机床运动学奇点并补偿 Download PDF

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Publication number
CN101505925B
CN101505925B CN2007800306231A CN200780030623A CN101505925B CN 101505925 B CN101505925 B CN 101505925B CN 2007800306231 A CN2007800306231 A CN 2007800306231A CN 200780030623 A CN200780030623 A CN 200780030623A CN 101505925 B CN101505925 B CN 101505925B
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linkage
change
matrix
contacts
singular
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CN2007800306231A
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English (en)
Chinese (zh)
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CN101505925A (zh
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菲利普·L·弗里曼
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Boeing Co
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Boeing Co
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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
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN2007800306231A 2006-08-31 2007-08-27 接近机床运动学奇点并补偿 Expired - Fee Related CN101505925B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US11/514,072 US8010235B2 (en) 2005-05-31 2006-08-31 Approaching and compensating for machine kinematic singularities
US11/514,072 2006-08-31
PCT/US2007/018820 WO2008027334A2 (en) 2006-08-31 2007-08-27 Approaching and compensating for machine kinematic singularities

Publications (2)

Publication Number Publication Date
CN101505925A CN101505925A (zh) 2009-08-12
CN101505925B true CN101505925B (zh) 2012-07-18

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CN2007800306231A Expired - Fee Related CN101505925B (zh) 2006-08-31 2007-08-27 接近机床运动学奇点并补偿

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US (1) US8010235B2 (enExample)
EP (1) EP2073959B1 (enExample)
JP (1) JP5393461B2 (enExample)
CN (1) CN101505925B (enExample)
WO (1) WO2008027334A2 (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4692488B2 (ja) * 2005-12-26 2011-06-01 三菱電機株式会社 数値制御装置及び数値制御工作機械
JP2008073830A (ja) * 2006-09-25 2008-04-03 Fanuc Ltd ロボット制御装置
FR2960074B1 (fr) * 2010-05-14 2012-06-15 Staubli Sa Ets Procede de commande d'une cellule de travail automatisee
WO2011152790A1 (en) 2010-06-03 2011-12-08 Delaval Holding Ab A milking robot, and a milking arrangement
DE102010032917A1 (de) * 2010-07-30 2012-04-19 Brötje-Automation GmbH Verfahren zur Offline-Programmierung eines NC-gesteuerten Manipulators
US8532825B1 (en) * 2010-08-25 2013-09-10 The Boeing Company Software compensation for kinematically singular machines
CN104965517B (zh) * 2015-07-07 2018-01-26 张耀伦 一种机器人笛卡尔空间轨迹的规划方法
CN105415363B (zh) * 2015-12-23 2017-11-17 珠海格力电器股份有限公司 机器人奇异点处理方法
US10065311B1 (en) * 2016-06-08 2018-09-04 X Development Llc Singularity handling for robot jogging
JP7222898B2 (ja) * 2017-06-12 2023-02-15 ジーメンス インダストリー ソフトウェア リミテッド ロボット製造での所定のターゲットへの到達をロボットにティーチングするための方法およびシステム
CN113263496B (zh) * 2021-04-01 2022-09-23 北京无线电测量研究所 一种六自由度机械臂优化路径的方法和计算机设备
CN114549352B (zh) * 2022-02-21 2025-04-18 中国第一汽车股份有限公司 图像处理方法、装置、电子设备和存储介质
WO2025053285A1 (ja) * 2023-09-08 2025-03-13 技術研究組合 産業用ロボット次世代基礎技術研究機構 プログラム、記憶媒体、情報処理装置、システム及びロボットの動作を制御する方法

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US4937759A (en) * 1986-02-18 1990-06-26 Robotics Research Corporation Industrial robot with controller
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
US4967126A (en) * 1990-01-30 1990-10-30 Ford Aerospace Corporation Method of controlling a seven degree of freedom manipulator arm
SE9400579L (sv) * 1994-02-21 1995-08-22 Asea Brown Boveri Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
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Also Published As

Publication number Publication date
EP2073959B1 (en) 2018-01-10
CN101505925A (zh) 2009-08-12
US8010235B2 (en) 2011-08-30
JP2010502454A (ja) 2010-01-28
WO2008027334A2 (en) 2008-03-06
JP5393461B2 (ja) 2014-01-22
US20070112468A1 (en) 2007-05-17
EP2073959A2 (en) 2009-07-01
WO2008027334A3 (en) 2008-10-02

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