CN105788443B - 基于d-h参数法的机器人运动学教具 - Google Patents
基于d-h参数法的机器人运动学教具 Download PDFInfo
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CN201810239124.3A CN108172106B (zh) | 2016-05-20 | 2016-05-20 | 连杆参数表达直观的基于d-h参数法的机器人运动学教具 |
CN201810239154.4A CN108461029B (zh) | 2016-05-20 | 2016-05-20 | 用于辅助教学的基于d-h参数法的机器人运动学教具 |
CN201610341420.5A CN105788443B (zh) | 2016-05-20 | 2016-05-20 | 基于d-h参数法的机器人运动学教具 |
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CN201810239154.4A Division CN108461029B (zh) | 2016-05-20 | 2016-05-20 | 用于辅助教学的基于d-h参数法的机器人运动学教具 |
CN201810239124.3A Division CN108172106B (zh) | 2016-05-20 | 2016-05-20 | 连杆参数表达直观的基于d-h参数法的机器人运动学教具 |
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CN201610341420.5A Active CN105788443B (zh) | 2016-05-20 | 2016-05-20 | 基于d-h参数法的机器人运动学教具 |
CN201810239124.3A Active CN108172106B (zh) | 2016-05-20 | 2016-05-20 | 连杆参数表达直观的基于d-h参数法的机器人运动学教具 |
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Families Citing this family (4)
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CN108344371B (zh) * | 2018-03-07 | 2019-10-29 | 中南大学 | 一种以喷浆台车视角判定喷浆半径及平整度的方法 |
CN109079850B (zh) * | 2018-08-16 | 2020-01-07 | 居鹤华 | 基于轴不变量多轴机器人d-h系及d-h参数确定方法 |
CN109817078B (zh) * | 2019-04-08 | 2024-04-19 | 曲阜师范大学 | 一种机器人d-h参数和相邻杆件坐标关系演示装置及其使用方法 |
CN113276108B (zh) * | 2021-04-15 | 2022-10-18 | 北京理工大学重庆创新中心 | 一种用于爆炸物抓取的四轴机械臂控制方法 |
Citations (7)
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EP1529605A3 (de) * | 2003-11-05 | 2008-12-17 | KUKA Roboter GmbH | Verfahren und Vorrichtung zum Steuern von Robotern |
CN102279563A (zh) * | 2010-06-13 | 2011-12-14 | 天津理工大学 | 非标数字装备操作机参数化运动学模型库建立方法 |
CN102692873A (zh) * | 2012-05-07 | 2012-09-26 | 上海理工大学 | 工业机器人定位精度标定方法 |
CN103345858A (zh) * | 2013-06-21 | 2013-10-09 | 哈尔滨工业大学 | 步行机器人稳定性训练用六自由度串并联机构平台装置 |
CN103426166A (zh) * | 2013-07-09 | 2013-12-04 | 杭州电子科技大学 | 一种基于激光和单目的机器人手眼协同定位方法 |
CN103753586A (zh) * | 2014-01-25 | 2014-04-30 | 安凯 | 机械臂位置粗精复合闭环控制方法 |
CN105313119A (zh) * | 2014-07-15 | 2016-02-10 | 大连科德数控有限公司 | 工业机器人的5轴6轴混合控制方法及其系统 |
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KR100213918B1 (ko) * | 1997-05-26 | 1999-08-02 | 윤종용 | 로봇의 기구학적 파라메터의 측정 방법 |
DE602004013188T2 (de) * | 2003-12-16 | 2009-05-07 | Abb Ab | Kinematischer parallelmanipulator für grossen arbeitsraum |
CN103390101B (zh) * | 2013-07-15 | 2016-08-10 | 哈尔滨工程大学 | 串联形式机器人的逆运动学通用求解方法 |
CN103983221A (zh) * | 2014-03-21 | 2014-08-13 | 北京信息科技大学 | 一种可变臂的关节式坐标测量机 |
CN104029199B (zh) * | 2014-06-03 | 2017-04-05 | 南通大学 | 一种平动半解耦服务机器人 |
CN105252548B (zh) * | 2015-11-03 | 2017-03-08 | 葛洲坝易普力股份有限公司 | 不规则rpr、rp和pr型机械臂连杆坐标系统的运动学性能分析方法 |
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2016
- 2016-05-20 CN CN201810239154.4A patent/CN108461029B/zh active Active
- 2016-05-20 CN CN201610341420.5A patent/CN105788443B/zh active Active
- 2016-05-20 CN CN201810239124.3A patent/CN108172106B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1529605A3 (de) * | 2003-11-05 | 2008-12-17 | KUKA Roboter GmbH | Verfahren und Vorrichtung zum Steuern von Robotern |
CN102279563A (zh) * | 2010-06-13 | 2011-12-14 | 天津理工大学 | 非标数字装备操作机参数化运动学模型库建立方法 |
CN102692873A (zh) * | 2012-05-07 | 2012-09-26 | 上海理工大学 | 工业机器人定位精度标定方法 |
CN103345858A (zh) * | 2013-06-21 | 2013-10-09 | 哈尔滨工业大学 | 步行机器人稳定性训练用六自由度串并联机构平台装置 |
CN103426166A (zh) * | 2013-07-09 | 2013-12-04 | 杭州电子科技大学 | 一种基于激光和单目的机器人手眼协同定位方法 |
CN103753586A (zh) * | 2014-01-25 | 2014-04-30 | 安凯 | 机械臂位置粗精复合闭环控制方法 |
CN105313119A (zh) * | 2014-07-15 | 2016-02-10 | 大连科德数控有限公司 | 工业机器人的5轴6轴混合控制方法及其系统 |
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Publication number | Publication date |
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CN108172106B (zh) | 2019-08-20 |
CN108461029B (zh) | 2019-08-20 |
CN108461029A (zh) | 2018-08-28 |
CN105788443A (zh) | 2016-07-20 |
CN108172106A (zh) | 2018-06-15 |
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Inventor after: Zhang Lei Inventor after: Zhao Nansheng Inventor after: Yang Hao Inventor after: Sun Yuhang Inventor after: Huang Xuequan Inventor after: Luo Xiaodong Inventor after: Liu Jianzhong Inventor before: Zhao Nansheng Inventor before: Zhang Lei Inventor before: Yang Hao Inventor before: Yan Wanlin Inventor before: Sun Yuhang Inventor before: Huang Xuequan Inventor before: Luo Xiaodong Inventor before: Liu Jianzhong |
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Effective date of registration: 20211123 Address after: 226000 No. 19 Dasheng Road, Gangzhao District, Nantong City, Jiangsu Province Patentee after: NANTONG UNIVERSAL MACHINERY Co.,Ltd. Address before: 226019 Jiangsu city of Nantong province sik Road No. 9 Patentee before: NANTONG University |