CN102166755A - 一种遥操作机器人的机械手末端三维接触力测量方法 - Google Patents
一种遥操作机器人的机械手末端三维接触力测量方法 Download PDFInfo
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- CN102166755A CN102166755A CN 201110030371 CN201110030371A CN102166755A CN 102166755 A CN102166755 A CN 102166755A CN 201110030371 CN201110030371 CN 201110030371 CN 201110030371 A CN201110030371 A CN 201110030371A CN 102166755 A CN102166755 A CN 102166755A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 210000000245 forearm Anatomy 0.000 claims abstract description 32
- 230000001133 acceleration Effects 0.000 claims abstract description 5
- 238000006467 substitution reaction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 7
- 210000002310 elbow joint Anatomy 0.000 description 4
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CN2011100303710A CN102166755B (zh) | 2011-01-26 | 2011-01-26 | 一种遥操作机器人的机械手末端三维接触力测量方法 |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102967484A (zh) * | 2012-10-31 | 2013-03-13 | 东南大学 | 一种小行星岩石采样机械臂装置 |
CN103158150A (zh) * | 2013-04-03 | 2013-06-19 | 哈尔滨工业大学 | 空间机械臂间隙可调的柔性关节模拟装置 |
CN103512694A (zh) * | 2012-06-29 | 2014-01-15 | 佳能株式会社 | 力传感器和包括力传感器的机器人臂 |
CN103568003A (zh) * | 2013-10-12 | 2014-02-12 | 上海交通大学 | 面向mcf装备真空室的远程运载机械臂 |
CN103568011A (zh) * | 2012-07-20 | 2014-02-12 | 精工爱普生株式会社 | 控制系统、程序以及机械装置的控制方法 |
CN104625676A (zh) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | 轴孔装配工业机器人系统及其工作方法 |
CN105643641A (zh) * | 2014-11-11 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | 力传感器标定装置、标定方法及力控制机器人 |
CN107848122A (zh) * | 2015-07-27 | 2018-03-27 | 库卡罗伯特有限公司 | 具有力测量装置的机器人 |
Citations (5)
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CN1400084A (zh) * | 2001-08-01 | 2003-03-05 | 中国科学院沈阳自动化研究所 | 一种适于球形薄壁脆性壳体抓取的特种机械手 |
CN101421081A (zh) * | 2006-02-24 | 2009-04-29 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | 机械臂 |
EP2067581A1 (en) * | 2007-12-05 | 2009-06-10 | Korea Atomic Energy Research Institute | Cable-driven manipulator with a cable compensation device |
CN101664931A (zh) * | 2009-09-23 | 2010-03-10 | 清华大学 | 可调压力并带有力传感器的机械臂 |
JP2010069584A (ja) * | 2008-09-19 | 2010-04-02 | Yaskawa Electric Corp | マニピュレータの制御装置および制御方法 |
-
2011
- 2011-01-26 CN CN2011100303710A patent/CN102166755B/zh not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN1400084A (zh) * | 2001-08-01 | 2003-03-05 | 中国科学院沈阳自动化研究所 | 一种适于球形薄壁脆性壳体抓取的特种机械手 |
CN101421081A (zh) * | 2006-02-24 | 2009-04-29 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | 机械臂 |
EP2067581A1 (en) * | 2007-12-05 | 2009-06-10 | Korea Atomic Energy Research Institute | Cable-driven manipulator with a cable compensation device |
JP2010069584A (ja) * | 2008-09-19 | 2010-04-02 | Yaskawa Electric Corp | マニピュレータの制御装置および制御方法 |
CN101664931A (zh) * | 2009-09-23 | 2010-03-10 | 清华大学 | 可调压力并带有力传感器的机械臂 |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9027417B2 (en) | 2012-06-29 | 2015-05-12 | Canon Kabushiki Kaisha | Force sensor and robot arm including force sensor |
CN103512694B (zh) * | 2012-06-29 | 2016-03-23 | 佳能株式会社 | 力传感器和包括力传感器的机器人臂 |
CN103512694A (zh) * | 2012-06-29 | 2014-01-15 | 佳能株式会社 | 力传感器和包括力传感器的机器人臂 |
CN103568011A (zh) * | 2012-07-20 | 2014-02-12 | 精工爱普生株式会社 | 控制系统、程序以及机械装置的控制方法 |
CN103568011B (zh) * | 2012-07-20 | 2017-04-12 | 精工爱普生株式会社 | 控制系统、程序以及机械装置的控制方法 |
CN102967484A (zh) * | 2012-10-31 | 2013-03-13 | 东南大学 | 一种小行星岩石采样机械臂装置 |
CN103158150B (zh) * | 2013-04-03 | 2015-05-20 | 哈尔滨工业大学 | 空间机械臂间隙可调的柔性关节模拟装置 |
CN103158150A (zh) * | 2013-04-03 | 2013-06-19 | 哈尔滨工业大学 | 空间机械臂间隙可调的柔性关节模拟装置 |
CN103568003A (zh) * | 2013-10-12 | 2014-02-12 | 上海交通大学 | 面向mcf装备真空室的远程运载机械臂 |
CN103568003B (zh) * | 2013-10-12 | 2016-07-06 | 上海交通大学 | 面向mcf装备真空室的远程运载机械臂 |
CN104625676A (zh) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | 轴孔装配工业机器人系统及其工作方法 |
CN104625676B (zh) * | 2013-11-14 | 2016-09-14 | 沈阳新松机器人自动化股份有限公司 | 轴孔装配工业机器人系统及其工作方法 |
CN105643641A (zh) * | 2014-11-11 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | 力传感器标定装置、标定方法及力控制机器人 |
CN105643641B (zh) * | 2014-11-11 | 2017-08-11 | 沈阳新松机器人自动化股份有限公司 | 力传感器标定装置、标定方法及力控制机器人 |
CN107848122A (zh) * | 2015-07-27 | 2018-03-27 | 库卡罗伯特有限公司 | 具有力测量装置的机器人 |
CN107848122B (zh) * | 2015-07-27 | 2021-04-30 | 库卡罗伯特有限公司 | 具有力测量装置的机器人 |
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Application publication date: 20110831 Assignee: JIANGSU TIANHONG MACHINERY INDUSTRIAL Co.,Ltd. Assignor: Southeast University Contract record no.: 2015320000210 Denomination of invention: Method for measuring three-dimensional contact force of tail end of mechanical hand of teleoperation robot Granted publication date: 20120822 License type: Exclusive License Record date: 20150414 |
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