CN102554930A - 机械臂控制系统及控制方法 - Google Patents
机械臂控制系统及控制方法 Download PDFInfo
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- CN102554930A CN102554930A CN2012100071953A CN201210007195A CN102554930A CN 102554930 A CN102554930 A CN 102554930A CN 2012100071953 A CN2012100071953 A CN 2012100071953A CN 201210007195 A CN201210007195 A CN 201210007195A CN 102554930 A CN102554930 A CN 102554930A
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CN2012100071953A CN102554930A (zh) | 2012-01-11 | 2012-01-11 | 机械臂控制系统及控制方法 |
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CN2012100071953A CN102554930A (zh) | 2012-01-11 | 2012-01-11 | 机械臂控制系统及控制方法 |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104781050A (zh) * | 2012-09-17 | 2015-07-15 | 睿信科机器人有限公司 | 约束具有冗余自由度的机械手 |
CN109109019A (zh) * | 2018-09-17 | 2019-01-01 | 珠海格力智能装备有限公司 | 机器人的上电控制方法、装置、存储介质及电子装置 |
CN112757296A (zh) * | 2020-12-28 | 2021-05-07 | 江西明天高科技股份有限公司 | 重力补偿方法及装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06340906A (ja) * | 1993-06-02 | 1994-12-13 | Tsukishima Kikai Co Ltd | 球状銀微粒子の製造方法 |
WO1997040435A2 (en) * | 1996-04-19 | 1997-10-30 | Massachusetts Institute Of Technology | Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof |
CN1200692A (zh) * | 1995-09-11 | 1998-12-02 | 株式会社安川电机 | 机器人控制设备 |
CN1319703C (zh) * | 2004-07-09 | 2007-06-06 | 北京理工大学 | 具有重力补偿和长度可调的6自由度遥操作手臂 |
CN201325059Y (zh) * | 2008-12-12 | 2009-10-14 | 深圳市华成工业控制有限公司 | 一种机械手控制系统 |
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2012
- 2012-01-11 CN CN2012100071953A patent/CN102554930A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06340906A (ja) * | 1993-06-02 | 1994-12-13 | Tsukishima Kikai Co Ltd | 球状銀微粒子の製造方法 |
CN1200692A (zh) * | 1995-09-11 | 1998-12-02 | 株式会社安川电机 | 机器人控制设备 |
WO1997040435A2 (en) * | 1996-04-19 | 1997-10-30 | Massachusetts Institute Of Technology | Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof |
CN1319703C (zh) * | 2004-07-09 | 2007-06-06 | 北京理工大学 | 具有重力补偿和长度可调的6自由度遥操作手臂 |
CN201325059Y (zh) * | 2008-12-12 | 2009-10-14 | 深圳市华成工业控制有限公司 | 一种机械手控制系统 |
Non-Patent Citations (1)
Title |
---|
陆俊杰: "《机械手的电子式自重平衡补偿》", 《上海海运学院学报》, no. 2, 30 June 1984 (1984-06-30), pages 2 - 4 * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104781050A (zh) * | 2012-09-17 | 2015-07-15 | 睿信科机器人有限公司 | 约束具有冗余自由度的机械手 |
CN109109019A (zh) * | 2018-09-17 | 2019-01-01 | 珠海格力智能装备有限公司 | 机器人的上电控制方法、装置、存储介质及电子装置 |
CN112757296A (zh) * | 2020-12-28 | 2021-05-07 | 江西明天高科技股份有限公司 | 重力补偿方法及装置 |
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Address after: 610031 Sichuan City, Chengdu Province, No. two North Ring Road, No. 111 Applicant after: Southwest Jiaotong University Co-applicant after: Chengdu Xinzhu Luqiao Mechine Co., Ltd. Address before: 611430 Xinjin Industrial Park, Sichuan, Chengdu Applicant before: Chengdu Xinzhu Luqiao Mechine Co., Ltd. Co-applicant before: Southwest Jiaotong University |
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Application publication date: 20120711 |