CN105904462A - Control method of six-degree-of-freedom intelligent robot body - Google Patents

Control method of six-degree-of-freedom intelligent robot body Download PDF

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Publication number
CN105904462A
CN105904462A CN201610362853.9A CN201610362853A CN105904462A CN 105904462 A CN105904462 A CN 105904462A CN 201610362853 A CN201610362853 A CN 201610362853A CN 105904462 A CN105904462 A CN 105904462A
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degree
joint
control method
attitude
human body
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阙正湘
朱林
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HUNAN CREATE TECHNOLOGY CO LTD
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HUNAN CREATE TECHNOLOGY CO LTD
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • G05D3/203—Control of position or direction using feedback using a digital comparing device using fine or coarse devices

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a control method of a six-degree-of-freedom intelligent robot body. The control method comprises the following steps: lengths of connecting rods of six shafts, present angles of joints and deviations of the joints are measured and calculated, and optical positions and gestures reached by the six joints are calculated through matrix equations; eight sets of solutions capable of reaching the positions and the gestures are calculated according to a position and a gesture of an operation arm terminal actuator, and one set of solutions is selected as optimal joint angle vectors; the lengths of the connecting rods, the optical joint angle vectors, a position and a gesture of a tool coordinate system corresponding to a basic coordinate system and the deviations of the joints are substituted in an algorithm to obtain a final action equation of the six-degree-of-freedom intelligent robot; and the six-degree-of-freedom intelligent robot body is controlled to output all the optical joint angle vectors to act according to an initial position gesture and a target position gesture of the operation arm terminal actuator in the basic coordinate system. The control method can simplify the algorithm and reduce the production cost.

Description

A kind of control method of six degree of freedom intelligent machine human body
Technical field
The invention belongs to intelligent robot technology field, particularly relate to the control of a kind of six degree of freedom intelligent machine human body Method processed.
Background technology
Currently, intelligent robot is the industry attracted people's attention very much, only has six axle machines of technical grade the most on the market People, the whole sealed envelope of each axle of six-joint robot, it is impossible to see each axle internal motion structure, also require that user of service has Enough knowledge and skills of specialty.
In the control algolithm of industrial robot, including complicated interpolation algorithm, the acceleration in the joint of least significant end must be considered Degree, linear velocity and angular velocity, add industrial robot and protect the most perfect, such as 2 robots transport in a space OK, how to ensure not collide, how to ensure not thrust into, this can relate to communicate with one another, touch sensing jerk etc. subalgorithm.
In sum, industrial robot of the prior art is extremely complex due to algorithm, causes its production cost higher.
Summary of the invention
For solving the problems referred to above, the invention provides the control method of a kind of six degree of freedom intelligent machine human body, it is possible to Simplify algorithm, reduce production cost.
The control method of a kind of six degree of freedom intelligent machine human body that the present invention provides, including:
Measure and calculate the length of connecting rod of six axles, the current angular in joint and joint side-play amount；
Six joint optimal locations to be reached and attitude are solved by matrix equation；
Position according to motion arm end effector and attitude, calculate eight groups up to target location and the solution of attitude, selection One of which solution is as optimal joint angle vector；
By described length of connecting rod, described optimal joint angle vector, tool coordinates system relative to the position of basis coordinates system and appearance State and described joint side-play amount substitute into algorithm, obtain the final operation equation of six degree of freedom intelligent robot；
According to described motion arm end effector initial position attitude in described basis coordinates system and target location attitude, Utilize described final operation equation, control described six degree of freedom intelligent machine human body and export each optimal joint angle vector and move Make.
Preferably, in the control method of above-mentioned six degree of freedom intelligent machine human body, described hold according to motion arm end The position of row device and attitude, calculate eight groups and include up to the solution of target location and attitude:
Carry out linear interpolation from the current location in described joint, form the path of circular shape, until given position.
Preferably, in the control method of above-mentioned six degree of freedom intelligent machine human body, described current from described joint Position carries out linear interpolation, and the path forming circular shape also includes:
First by Linear Motion Interpolation, then increase fitting of parabola region in each path point, utilize linear function and two Individual parabolic function is combined into Position And Velocity equal continuous print fullpath.
Preferably, in the control method of above-mentioned six degree of freedom intelligent machine human body, in described measurement and calculate six Include before the length of connecting rod of axle, the current angular in joint and joint side-play amount:
First axle, the 4th axle, the 5th axle and the 6th axle all include motor, decelerator and bearing, the second axle and the 3rd axle bag Including utilizes connecting rod to couple between motor and decelerator, and described second axle and described 3rd axle.
Preferably, in the control method of above-mentioned six degree of freedom intelligent machine human body, described utilize described final action Equation, controls described six degree of freedom intelligent machine human body and exports each optimal joint angle vector and carry out action and include:
Identification automatic to the parameter of electric machine, and carry out automatic adjusting to controlling parameter, generate optimum for different motors Control parameter.
Preferably, in the control method of above-mentioned six degree of freedom intelligent machine human body, described solved by matrix equation Go out optimum position to be reached, six joints and attitude include:
Each joint is being found during impact point speed and path memory and is being maintained in systems soft ware, as reservation Value.
Preferably, in the control method of above-mentioned six degree of freedom intelligent machine human body, described hold according to motion arm end The position of row device and attitude, calculate eight groups up to target location and the solution of attitude, select one of which solution as optimal joint angle Vector includes:
The method utilizing normal solution obtains the 4*4 homogeneous matrix of each motion arm end effector；
The anti-method solved is utilized to obtain 8 groups of solutions；
Select one group of optimal solution in described 8 groups of solutions, as the optimal joint angle vector in described joint.
Preferably, in the control method of above-mentioned six degree of freedom intelligent machine human body, described motor is motor, watches Take motor or linear electric motors.
Preferably, in the control method of above-mentioned six degree of freedom intelligent machine human body, the anti-method solved of described utilization obtains Include to 8 groups of solutions:
Bivariate arctan function is utilized to obtain 8 groups of solutions.
The control method of the above-mentioned six degree of freedom intelligent machine human body that the present invention provides, owing to including: measure and calculate The length of connecting rod of six axles, the current angular in joint and joint side-play amount；Solve six joints by matrix equation to reach The optimal location arrived and attitude；Position according to motion arm end effector and attitude, calculate eight groups up to target location and appearance The solution of state, selects one of which solution as optimal joint angle vector；By described length of connecting rod, described optimal joint angle vector, work Tool coordinate system substitutes into algorithm relative to the position of basis coordinates system and attitude and described joint side-play amount, obtains six degree of freedom intelligence The final operation equation of robot；According to described motion arm end effector initial position attitude in described basis coordinates system and Target location attitude, utilizes described final operation equation, controls described six degree of freedom intelligent machine human body and exports each optimum pass Joint angle vector carries out action, therefore, it is possible to simplify algorithm, reduces production cost.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to The accompanying drawing provided obtains other accompanying drawing.
The signal of the control method of the first six degree of freedom intelligent machine human body that Fig. 1 provides for the embodiment of the present application Figure.
Detailed description of the invention
The core concept of the present invention is to provide the control method of a kind of six degree of freedom intelligent machine human body, it is possible to simplify Algorithm, reduces production cost.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.
The control method of the first six degree of freedom intelligent machine human body that the embodiment of the present application provides is as it is shown in figure 1, Fig. 1 The schematic diagram of control method for the first six degree of freedom intelligent machine human body that the embodiment of the present application provides.The method includes Following steps:
S1: measure and calculate the length of connecting rod of six axles, the current angular in joint and joint side-play amount；
Robotic system software obtains matrix equation and solves one group of optimal solution, it is possible to obtain length of connecting rod and joint Current angular, relative to industrial robot of the prior art by research joint angle function describe track (in space, time Between, speed and acceleration etc.) generation method, its joint angle function and other joint functional independences, the embodiment of the present application provides Each joint and remaining joint of robot have relation, show that first is that mechanical part is relevant, second is inherent Function and some algorithms are relevant.
S2: solve optimum position to be reached, six joints and attitude by matrix equation；
If from pedestal to first joint, then from joint, first joint to second until to last joint All conversion in (the 6th joint) combine, and have just obtained total transformation matrix of robot.Concrete, matrix equation is as follows:
T n n + 1 = A n + 1 = R o t ( z , θ n + 1 ) × T r a n ( 0 , 0 , d n + 1 ) × T r a n ( a n + 1 , 0 , 0 ) × R o t ( x , a n + 1 ) = Cθ n + 1 - Sθ n + 1 0 0 Sθ n + 1 Cθ n + 1 0 0 0 0 1 0 0 0 0 1 × 1 0 0 0 0 1 0 0 0 0 1 d n + 1 0 0 0 1 × 1 0 0 a n + 1 0 1 0 0 0 0 1 0 0 0 0 1 × 1 0 0 0 0 Cα n + 1 - Sα n + 1 0 0 Sα n + 1 Cα n + 1 0 0 0 0 1
Wherein, for six-joint robot, n=5.
S3: according to position and the attitude of motion arm end effector, calculates eight groups up to target location and the solution of attitude, choosing Select one of which solution as optimal joint angle vector；
In this step, first it is that a local reference frame is specified in each joint, it is then assumed that be now currently located in this Coordinate system Xn-Zn on ground, then next local coordinate Xn+1-Zn+1 can be arrived by four step standard movements: rotate-put down Move-translation-rotate.
It addition, with the movement function in each joint, apply inverse kinematics can solve each pass corresponding to target location Joint angle.
S4: by described length of connecting rod, described optimal joint angle vector, tool coordinates system relative to basis coordinates system position and Attitude and described joint side-play amount substitute into algorithm, obtain the final operation equation of six degree of freedom intelligent robot；
S5: according to described motion arm end effector initial position attitude in described basis coordinates system and target location appearance State, utilizes described final operation equation, controls described six degree of freedom intelligent machine human body and exports each optimal joint angle vector and enter Action is made.
The control method of the above-mentioned six degree of freedom intelligent machine human body that the embodiment of the present application provides, owing to including: measure And calculate the length of connecting rod of six axles, the current angular in joint and joint side-play amount；Six joints are solved by matrix equation Optimal location to be reached and attitude；Position according to motion arm end effector and attitude, calculate eight groups up to target position Put the solution with attitude, select one of which solution as optimal joint angle vector；Described length of connecting rod, described optimal joint angle are vowed Amount, tool coordinates system substitute into algorithm relative to the position of basis coordinates system and attitude and described joint side-play amount, obtain six freely The final operation equation of degree intelligent robot；According to described motion arm end effector initial position in described basis coordinates system Attitude and target location attitude, utilize described final operation equation, controls described six degree of freedom intelligent machine human body and exports respectively Optimal joint angle vector carries out action, therefore, it is possible to simplify algorithm, reduces production cost.
The control method of the second six degree of freedom intelligent machine human body that the embodiment of the present application provides, is above-mentioned first On the basis of kind of control method, also include following technical characteristic:
The described position according to motion arm end effector and attitude, calculate eight groups of unpacking up to target location and attitude Include:
Carry out linear interpolation from the current location in described joint, form the path of circular shape, until given position.
Concrete, if the position of traditional industrial robot route segment to be determined starting point and ending point, speed, acceleration Degree, must be requested that initial joint angle speed and termination joint angle speed are all not zero, is inserted with a quintic algebra curve function Benefit can be only achieved this effect, and it belongs to function interpolation.And the robot that the embodiment of the present application provides belongs to Linear Motion Interpolation, Such as 6 joints move to P2 point from P1 point simultaneously, and after carrying out Linear Motion Interpolation, motion path is straight line, and interpolation is calculated Method is simple, say, that carry out linear interpolation from current joint position simply, until final position, forming path shape is Straight line.
The control method of the third six degree of freedom intelligent machine human body that the embodiment of the present application provides, is above-mentioned second On the basis of kind of control method, also include following technical characteristic:
The described current location from described joint carries out linear interpolation, and the path forming circular shape also includes:
First by Linear Motion Interpolation, then increase fitting of parabola region in each path point, utilize linear function and two Individual parabolic function is combined into Position And Velocity equal continuous print fullpath.
Concrete, directly carrying out linear interpolation will cause the joint motions speed at starting point and ending point discontinuous, for Generate a position and speed all continuous print smooth motion trajectories, first by Linear Motion Interpolation, but need in each path point Increase by one section of fitting of parabola region, linear function (function of first order) and two parabolic functions (second order function) and be combined into one Complete Position And Velocity equal continuous print path.
If t0The value in moment is the initial position in this joint, at tfThe value in moment is the expectation target position in this joint, has many Plant smooth function θ (t) to can be used for joint angle is carried out linear interpolation.In the control method that the present embodiment provides, at the beginning of all presetting Moment beginning and end time joint velocity are zero.
These constraintss uniquely determine a cubic polynomial, θ (t)=a0+a1t+a2t2+a3t3；
Joint velocity and acceleration formula for this path
Solve equation, can obtain
a0=θ (0)
a1=0
a2=3/tf 2*(θf-θ0)
a3=-2/tf 3*(θf-θ0)
This is initial and terminates speed is all that any initial joint angle position of zero is to more than three times of end angle position of expectation Item formula.
The control method of the 4th kind of six degree of freedom intelligent machine human body that the embodiment of the present application provides, is the above-mentioned 3rd On the basis of kind of control method, also include following technical characteristic:
Include in described measurement and before calculating the length of connecting rod of six axles, the current angular in joint and joint side-play amount:
First axle, the 4th axle, the 5th axle and the 6th axle all include motor, decelerator and bearing, the second axle and the 3rd axle bag Including utilizes connecting rod to couple between motor and decelerator, and described second axle and described 3rd axle.
Concrete, described six degree of freedom is respectively J1, J2, J3, J4, J5, J6.J1, J4, J5, J6 by a motor, One decelerator and a bearing composition；J2 and J3 is made up of a motor, a decelerator；Wherein between J2 and J3 Coupled by connecting rod, it is achieved the coupling between two axles.
The control method of the 5th kind of six degree of freedom intelligent machine human body that the embodiment of the present application provides, is the above-mentioned 4th On the basis of kind of control method, also include following technical characteristic:
Described utilize described final operation equation, control described six degree of freedom intelligent machine human body and export each optimal joint Angle vector carries out action and includes:
Identification automatic to the parameter of electric machine, and carry out automatic adjusting to controlling parameter, generate optimum for different motors Control parameter.
The control method of the 6th kind of six degree of freedom intelligent machine human body that the embodiment of the present application provides, is the above-mentioned 5th On the basis of kind of control method, also include following technical characteristic:
Described solve optimum position to be reached, six joints by matrix equation and attitude includes:
Each joint is being found during impact point speed and path memory and is being maintained in systems soft ware, as reservation Value.
Traditional industrial robot is for a coordinates measurement algorithm, and one of its use meets user and specifies Desired speed.But always require that user's command speed is also a burden.The robot speed that the application provides both can refer to Fixed；Can not also specify, the most manually find impact point (particular location of workpiece), the process of impact point is being found in each joint Medium velocity and path can Self-memory being maintained in systems soft ware, when automatically running, speed and path are exactly retention.
Further, in the control method of any of the above-described kind of six degree of freedom intelligent machine human body, described according to operation The position of arm end effector and attitude, calculate eight groups up to target location and the solution of attitude, select one of which solution as Excellent joint angle vector includes:
The method utilizing normal solution obtains the 4*4 homogeneous matrix of each motion arm end effector；
The anti-method solved is utilized to obtain 8 groups of solutions；
Select one group of optimal solution in described 8 groups of solutions, as the optimal joint angle vector in described joint.
Further, the anti-method solved of described utilization obtains 8 groups of solutions and can preferably include:
Bivariate arctan function is utilized to obtain 8 groups of solutions.
Below the hardware used by the embodiment of the present application is described as follows:
Industrial computer hardware realizes: industrial computer is made up of CPU, internal memory, hard disk, USB interface and power supply etc., can independent operating Windows operating system, various programming software and various composing software.
Writing of various motion control program: write a yard algorithm of increasing income for various action (capture, carry, piling, spraying) Dynamic base and driving dynamic base, after checking is correct, be stored on industrial computer, and a yard dynamic base of increasing income for every kind of action is the most individually opened Put interface to use to client；After dynamic base is called, it is possible to run on industrial computer, and generate the C Plus Plus of the bottom, be Instruction after system software output C Plus Plus compiling is to motion control card so that motion control card can obtain various action triggers, so After assign instruction to robot body, this just embodies increasing income of hardware.
Electric cabinet hardware realizes: the internal mainboard Han motion control card, I/O module, and manual programming device interface board is (containing controlling electricity Cable), power supply and six stepper motor drivers.Electric cabinet is with motion control card as core, and motion control card obtains action triggers Afterwards, six stepper motor drivers, the motor corresponding to the body of driver drives six-joint robot are outputed signal to Motion；Motion control card does not has memory element, data to be stored entirely on industrial computer.
Further, described motor can be preferably motor, servomotor or linear electric motors.
The off-line programming and simulation software of six degree of freedom intelligent robot system used herein, supports industry both at home and abroad The robot off-line programming of the various model of robot mainstream vendor, action emulation, movement locus and attitude planning and optimization, anti-collision Hitting test, originally the most compatible Rhizoma Sparganii equipment, present various equipment can be compatible.Furthermore it is also possible to provide emulation plug-in unit, emulation System compatible Solidworks software.
Said system standard-sized sheet source code, is free to carry out low level development, due to the opening of hardware and software resource, It is very easy to exchange of technology and the secondary development of robotics developer；The most singly provide the most direct and abundant Hardware interface, it is often more important that a set of the most clear and easy to understand and abundant in content software library, many ready-made hardware devices are all There is direct code sample, it is only necessary to replicate and paste and just can use；
It addition, hardware designs is divided into Machine Design and circuit design two parts, software design is divided into Driver Design, control Programming processed and intelligent algorithm exploitation, compiler part groundwork divides upwards, downward both direction: downwards by program Compiling is converted to the machine code of compatible multiple mcu, the most compatible common multiple development language, such as: C/C++, VB, C#, JAVA etc..
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention. Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one The widest scope caused.

Claims (9)

1. the control method of a six degree of freedom intelligent machine human body, it is characterised in that including:
Measure and calculate the length of connecting rod of six axles, the current angular in joint and joint side-play amount；
Six joint optimal locations to be reached and attitude are solved by matrix equation；
Position according to motion arm end effector and attitude, calculate eight groups up to target location and the solution of attitude, select wherein One group of solution is as optimal joint angle vector；
By described length of connecting rod, described optimal joint angle vector, tool coordinates system relative to the position of basis coordinates system and attitude with And described joint side-play amount substitutes into algorithm, obtain the final operation equation of six degree of freedom intelligent robot；
According to described motion arm end effector initial position attitude in described basis coordinates system and target location attitude, utilize Described final operation equation, controls described six degree of freedom intelligent machine human body and exports each optimal joint angle vector and carry out action.
The control method of six degree of freedom intelligent machine human body the most according to claim 1, it is characterised in that described basis The position of motion arm end effector and attitude, calculate eight groups and include up to the solution of target location and attitude:
Carry out linear interpolation from the current location in described joint, form the path of circular shape, until given position.
The control method of six degree of freedom intelligent machine human body the most according to claim 2, it is characterised in that described from institute The current location stating joint carries out linear interpolation, and the path forming circular shape also includes:
First by Linear Motion Interpolation, then increase fitting of parabola region in each path point, utilize linear function and two throwings Thing line function is combined into Position And Velocity equal continuous print fullpath.
The control method of six degree of freedom intelligent machine human body the most according to claim 3, it is characterised in that in described survey Include before measuring and calculate the length of connecting rod of six axles, the current angular in joint and joint side-play amount:
First axle, the 4th axle, the 5th axle and the 6th axle all include motor, decelerator and bearing, and the second axle and the 3rd axle include electricity Connecting rod is utilized to couple between machine and decelerator, and described second axle and described 3rd axle.
The control method of six degree of freedom intelligent machine human body the most according to claim 4, it is characterised in that described utilization Described final operation equation, controls described six degree of freedom intelligent machine human body and exports each optimal joint angle vector and carry out action bag Include:
Identification automatic to the parameter of electric machine, and carry out automatic adjusting to controlling parameter, generate optimum control for different motors Parameter.
The control method of six degree of freedom intelligent machine human body the most according to claim 5, it is characterised in that described in pass through Matrix equation solves optimum position to be reached, six joints and attitude includes:
Each joint is being found during impact point speed and path memory and is being maintained in systems soft ware, as retention.
7. according to the control method of the six degree of freedom intelligent machine human body described in any one of claim 1-6, it is characterised in that The described position according to motion arm end effector and attitude, calculate eight groups up to target location and the solution of attitude, select wherein One group of solution includes as optimal joint angle vector:
The method utilizing normal solution obtains the 4*4 homogeneous matrix of each motion arm end effector；
The anti-method solved is utilized to obtain 8 groups of solutions；
Select one group of optimal solution in described 8 groups of solutions, as the optimal joint angle vector in described joint.
The control method of six degree of freedom intelligent machine human body the most according to claim 7, it is characterised in that described motor For motor, servomotor or linear electric motors.
The control method of six degree of freedom intelligent machine human body the most according to claim 7, it is characterised in that described utilization The anti-method solved obtains 8 groups of solutions and includes:
Bivariate arctan function is utilized to obtain 8 groups of solutions.
CN201610362853.9A 2016-05-27 2016-05-27 Control method of six-degree-of-freedom intelligent robot body Pending CN105904462A (en)

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CN106393089A (en) * 2016-10-18 2017-02-15 广东伯朗特智能装备股份有限公司 Control method and device for six-shaft light-load industrial robot
CN106896778A (en) * 2017-04-07 2017-06-27 湘潭大学 A kind of robot end's method for planning track based on Generating NC Tool file
CN107253195A (en) * 2017-07-31 2017-10-17 中南大学 A kind of carrying machine human arm manipulation ADAPTIVE MIXED study mapping intelligent control method and system
WO2018129705A1 (en) * 2017-01-13 2018-07-19 中国科学院深圳先进技术研究院 Method and apparatus for use in determining inverse solution for robots in series connection
CN109393804A (en) * 2018-10-23 2019-03-01 深圳市深信创联智能科技有限责任公司 Four-degree-of-freedom drives platform and its control method
WO2019056840A1 (en) * 2017-09-21 2019-03-28 北京京东尚科信息技术有限公司 Palletizing control device, system and method and storage medium
CN110896170A (en) * 2019-11-04 2020-03-20 中国电子科技集团公司第五十四研究所 Design process of parallel type six-degree-of-freedom auxiliary surface adjusting mechanism
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CN117959146A (en) * 2024-04-02 2024-05-03 江西求是高等研究院 Six-degree-of-freedom upper limb rehabilitation robot control method and system

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CN106393089A (en) * 2016-10-18 2017-02-15 广东伯朗特智能装备股份有限公司 Control method and device for six-shaft light-load industrial robot
WO2018129705A1 (en) * 2017-01-13 2018-07-19 中国科学院深圳先进技术研究院 Method and apparatus for use in determining inverse solution for robots in series connection
CN106896778A (en) * 2017-04-07 2017-06-27 湘潭大学 A kind of robot end's method for planning track based on Generating NC Tool file
CN107253195A (en) * 2017-07-31 2017-10-17 中南大学 A kind of carrying machine human arm manipulation ADAPTIVE MIXED study mapping intelligent control method and system
WO2019056840A1 (en) * 2017-09-21 2019-03-28 北京京东尚科信息技术有限公司 Palletizing control device, system and method and storage medium
US11446824B2 (en) 2017-09-21 2022-09-20 Beijing Jingdong Qianshi Technology Co., Ltd. Palletizing control device, system and method and storage medium
CN109393804A (en) * 2018-10-23 2019-03-01 深圳市深信创联智能科技有限责任公司 Four-degree-of-freedom drives platform and its control method
CN110896170A (en) * 2019-11-04 2020-03-20 中国电子科技集团公司第五十四研究所 Design process of parallel type six-degree-of-freedom auxiliary surface adjusting mechanism
CN113974874A (en) * 2021-10-28 2022-01-28 杭州柳叶刀机器人有限公司 Automatic positioning method and device for mechanical arm, terminal equipment and readable storage medium
CN113974874B (en) * 2021-10-28 2023-03-24 杭州柳叶刀机器人有限公司 Automatic positioning method and device for mechanical arm, terminal equipment and readable storage medium
CN117959146A (en) * 2024-04-02 2024-05-03 江西求是高等研究院 Six-degree-of-freedom upper limb rehabilitation robot control method and system

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Application publication date: 20160831