CN105975795A - 一种高精度的多关节串联机械臂运动学反解解法 - Google Patents
一种高精度的多关节串联机械臂运动学反解解法 Download PDFInfo
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106557844A (zh) * | 2016-11-23 | 2017-04-05 | 华东理工大学 | 一种焊接机器人路径规划方法 |
CN106647248A (zh) * | 2017-01-13 | 2017-05-10 | 中国科学院深圳先进技术研究院 | 一种确定串联机器人反解结果的方法及装置 |
CN107791248A (zh) * | 2017-09-28 | 2018-03-13 | 浙江理工大学 | 基于不满足pipper准则的六自由度串联机器人的控制方法 |
WO2019061690A1 (zh) * | 2017-09-29 | 2019-04-04 | 南京阿凡达机器人科技有限公司 | 机械臂逆运动学求解方法误差的确定及校正方法和装置 |
WO2020034418A1 (zh) * | 2018-08-16 | 2020-02-20 | 居鹤华 | 基于轴不变量及dh参数1r/2r/3r逆解建模方法 |
CN111216136A (zh) * | 2020-03-11 | 2020-06-02 | 集美大学 | 多自由度机械手臂控制系统、方法、存储介质、计算机 |
CN111283681A (zh) * | 2020-02-28 | 2020-06-16 | 东南大学 | 一种基于切换scapso的六自由度机械臂逆解方法 |
CN111914980A (zh) * | 2020-05-30 | 2020-11-10 | 中南大学 | 一种基于解析解和改进遗传算法的冗余机械臂运动学解算方法 |
CN112870595A (zh) * | 2020-12-30 | 2021-06-01 | 国电南瑞科技股份有限公司 | 一种举高消防机器人控制方法、装置及系统 |
Citations (2)
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US20050143860A1 (en) * | 2003-12-26 | 2005-06-30 | Japan Aerospace Exploration Agency | Method of controlling redundant manipulator |
CN105171744A (zh) * | 2015-07-29 | 2015-12-23 | 浙江理工大学 | 五自由度旋转链式码垛机械臂的运动控制方法 |
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2016
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Patent Citations (2)
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US20050143860A1 (en) * | 2003-12-26 | 2005-06-30 | Japan Aerospace Exploration Agency | Method of controlling redundant manipulator |
CN105171744A (zh) * | 2015-07-29 | 2015-12-23 | 浙江理工大学 | 五自由度旋转链式码垛机械臂的运动控制方法 |
Non-Patent Citations (1)
Title |
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王俊龙等: "一种新的六自由度机械臂运动学反解方法研究", 《计算机工程与应用》 * |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106557844A (zh) * | 2016-11-23 | 2017-04-05 | 华东理工大学 | 一种焊接机器人路径规划方法 |
CN106557844B (zh) * | 2016-11-23 | 2020-02-14 | 华东理工大学 | 一种焊接机器人路径规划方法 |
CN106647248A (zh) * | 2017-01-13 | 2017-05-10 | 中国科学院深圳先进技术研究院 | 一种确定串联机器人反解结果的方法及装置 |
CN106647248B (zh) * | 2017-01-13 | 2020-02-07 | 中国科学院深圳先进技术研究院 | 一种确定串联机器人反解结果的方法及装置 |
CN107791248A (zh) * | 2017-09-28 | 2018-03-13 | 浙江理工大学 | 基于不满足pipper准则的六自由度串联机器人的控制方法 |
WO2019061690A1 (zh) * | 2017-09-29 | 2019-04-04 | 南京阿凡达机器人科技有限公司 | 机械臂逆运动学求解方法误差的确定及校正方法和装置 |
WO2020034418A1 (zh) * | 2018-08-16 | 2020-02-20 | 居鹤华 | 基于轴不变量及dh参数1r/2r/3r逆解建模方法 |
CN111283681A (zh) * | 2020-02-28 | 2020-06-16 | 东南大学 | 一种基于切换scapso的六自由度机械臂逆解方法 |
CN111283681B (zh) * | 2020-02-28 | 2022-03-15 | 东南大学 | 一种基于切换scapso的六自由度机械臂逆解方法 |
CN111216136A (zh) * | 2020-03-11 | 2020-06-02 | 集美大学 | 多自由度机械手臂控制系统、方法、存储介质、计算机 |
CN111914980A (zh) * | 2020-05-30 | 2020-11-10 | 中南大学 | 一种基于解析解和改进遗传算法的冗余机械臂运动学解算方法 |
CN111914980B (zh) * | 2020-05-30 | 2023-12-01 | 中南大学 | 一种基于解析解和改进遗传算法的冗余机械臂运动学解算方法 |
CN112870595A (zh) * | 2020-12-30 | 2021-06-01 | 国电南瑞科技股份有限公司 | 一种举高消防机器人控制方法、装置及系统 |
CN112870595B (zh) * | 2020-12-30 | 2022-07-08 | 国电南瑞科技股份有限公司 | 一种举高消防机器人控制方法、装置及系统 |
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