CN107030702A - A kind of method for planning track of mechanical arm - Google Patents
A kind of method for planning track of mechanical arm Download PDFInfo
- Publication number
- CN107030702A CN107030702A CN201710409081.4A CN201710409081A CN107030702A CN 107030702 A CN107030702 A CN 107030702A CN 201710409081 A CN201710409081 A CN 201710409081A CN 107030702 A CN107030702 A CN 107030702A
- Authority
- CN
- China
- Prior art keywords
- joint
- mechanical arm
- pose
- characteristic point
- interpolation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
Abstract
The invention belongs to robot control correlative technology field, and a kind of method for planning track of mechanical arm is disclosed, including：Mechanical arm, which is obtained, includes its end initially and the parameter such as terminal pose, desired trajectory, initial joint vector sum terminal joint vector；A series of characteristic point is selected on desired trajectory, and marks vectorial current signature point pose, current joint, next characteristic point pose and next characteristic point joint vector；Next characteristic point joint vector and current signature point joint vector are performed into calculating, and handled and planning subalgorithm processing according to result of calculation to perform joint space trajectory planning, the trajectory planning more optimized is derived from；Circular treatment is given according to above-mentioned flow to remaining characteristic point, untill pose is reached home in the end of mechanical arm.By means of the invention it is possible to greatly reduce overall amount of calculation, calculation error reduced, while significantly improving the efficiency of trajectory planning.
Description
Technical field
The invention belongs to robot control correlative technology field, more particularly, to a kind of trajectory planning side of mechanical arm
Method.
Background technology
Industrial robot operation mainly includes two kinds, that is, puts position operation and continuous path operation.Plan before the procedure
The movement locus of robot belongs to the Top-layer Design Method in the field.At present for all kinds of trajectory planning modes of industrial robot,
It can generally implement in joint space or cartesian space.Wherein the former calculates simply, but robot end track is uncontrollable,
Thus particularly require that under the occasion that end has clear and definite track, the latter is employed more and more in practice.
But, although implement in cartesian space that robot end's trajectory error can be made smaller, but amount of calculation is often very
Greatly, and need robot is controlled in speed ring and acceleration ring.More particularly, on the one hand, this trajectory planning side
The calculating of method is complicated, and cost is big in the planning of small-sized machine arm, and efficiency is relatively low；On the other hand, the speed of some joint of mechanical arm
Degree and Acceleration Control have very big difficulty in actual condition, and such as steering wheel full speed running before this in controlling cycle is reached
Control bit, which is postponed, stops and waits for next controlling cycle control instruction, and then causes cartesian space trajectory planning effect and precision
It is poor.Correspondingly, this area, which is needed badly, finds more perfect solution, preferably to meet growing actual need
Ask.
The content of the invention
For more than prior art not enough or Improvement requirement, the invention provides a kind of trajectory planning side of mechanical arm
Method, wherein the characteristics of by combining mechanical arm self structure and actual job, and build special algorithm and come its track of Improvement
The specific operation process of planning, test shows to can ensure that improvement control accuracy, and greatly reduces overall amount of calculation, reduces to calculate and miss
Difference, while significantly improving the efficiency of trajectory planning, the small-sized machine arm for being therefore particularly suitable for for example six shaft mechanical arms etc is high
Precision trajectory planning application scenario.
To achieve the above object, it is proposed, according to the invention, there is provided a kind of method for planning track of driving mechanical arm, its feature exists
In this method comprises the following steps：
(1) mechanical arm as plan objects is directed to, obtaining includes the multiple parameters related to its end, including initial
Pose, terminal pose and desired trajectory；Then calculate and obtain corresponding initial joint vector sum terminal joint vector；
(2) a series of characteristic point is selected on the desired trajectory, and by the current signature point pose of mechanical arm tail end
It is designated as Yi, corresponding joint vector, which is remembered, is calculated as Oi, next characteristic point pose is designated as Yi+1, corresponding next characteristic point joint vector
It is calculated as Oi+1, wherein i=1 2,3 ... and represents the sequence number of each characteristic point；
(3) Δ O=O is calculatedi+1-Oi；
(4) result of calculation according to step (3), performs following sub-step：
(41) when the element of maximum absolute value in Δ O is less than or equal to default first threshold b0When, first to OiAnd Oi+1
Target phase between the two performs the first interpolation operation, is derived from multiple middle joint vector Oi1,Oi2,…,Oiy, wherein y tables
Show the total quantity of interpolation point during the first interpolation operation；Then, according to the multiple middle joints vector O obtainedi1,
Oi2,…,Oiy, mechanical arm is run to next characteristic point, be then transferred to step (5)；When the element of maximum absolute value in Δ O is big
In default first threshold b0When, directly it is transferred to step (42)；
(42) absolute value of k element is respectively less than or equal to default Second Threshold b before in Δ O1When, first to OiWith
Oi+1Preceding k element carry out the second interpolation operation, be derived from before k joint joint vector Ok1,Ok2,…,Oky, while really
Determine the pose Y corresponding to+1 joint of kthk1,Yk2,…,Yky, wherein y represents the sum of interpolation point during the second interpolation operation
Amount；Then, to YiAnd Yi+1Interpolation point total quantity is performed between the two and is similarly y the 3rd interpolation operation, and obtains multiple interpolation
Point Yi1,Yi2,…,Yiy；Finally, respectively for Yk1,Yk2,…,YkyAnd Yi1,Yi2,…,Yiy, calculate+1 joint of acquisition kth and arrive
The joint vector in last joint, and by itself and corresponding Ok1,Ok2,…,OkyWith reference to obtain a series of complete joints to
Amount, and it is complete according to this series of joint vector mechanical arm is run to next characteristic point, be then transferred to step (5)；
(5) make i=i+1, and judge whether the end of mechanical arm reaches home pose, given if it is not, being then back to step (3)
To circulate, untill pose is reached home in the end of mechanical arm, overall trajectory planning process is thus completed.
As it is further preferred that in step (2), the selection of the characteristic point is preferably set to so that mechanical arm is closed
The change for saving angle is dull.
As it is further preferred that the mechanical arm is preferably the mechanical arm of servo driving.As it is further preferred that
In step (41), the first threshold b0It is preferably configured to be equal to maximum angular displacement of the steering wheel in a controlling cycle.
As it is further preferred that in step (42), the Second Threshold b1It is preferably configured to be equal to steering wheel at one
2.5 times of maximum angular displacement in controlling cycle.
As it is further preferred that in step (42), the numerical value of the k is preferably configured the joint number equal to mechanical arm
Subtract three.
As it is further preferred that for above-mentioned first interpolation operation, it is preferred to use the mode of linear interpolation；This
Outside, for described second and the 3rd for interpolation operation, both are preferred to use identical interpolation method.
In general, possess following compared with prior art, mainly by the contemplated above technical scheme of the present invention
Technological merit：
1st, for implementing that robot end's trajectory error can be made smaller in cartesian space in the present invention, but amount of calculation is past
Toward very big and some joint of mechanical arm speed and Acceleration Control in actual condition with very big difficulty the problem of, accordingly
Construct special algorithm and take multiple space interpolation operation to be improved, accordingly can not only shorten limit interpolation cycle, also
Amount of calculation can be greatly reduced, the requirement to processor arithmetic speed is reduced, while effectively reducing error in numerical calculation, and show
Write the efficiency and precision for improving mechanical arm trajectory planning；
2nd, on the basis of algorithm above and trajectory planning, the present invention is also further to some of key parameters for example the
One threshold value, Second Threshold and k values etc. have been made research and designed, and more actual test shows that it can be in total algorithm
Good balance is obtained between efficiency and final obtainable path accuracy, and possesses the advantage for being easy to manipulate and calculating processing；
3rd, cartesian space can be merged well according to the method for planning track of the present invention and joint space is respective excellent
Point, the features such as being provided simultaneously with high efficiency, high accuracy and strong adaptability is therefore particularly suitable for the small of for example six shaft mechanical arms etc
Type mechanical arm trajectory planning application scenario.
Brief description of the drawings
Fig. 1 is the integrated artistic schematic flow sheet according to the method for planning track constructed by the present invention；
Fig. 2 more specifically shows the specific handling process that subalgorithm is planned shown in Fig. 1.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
Fig. 1 is the process flow diagram according to the method for planning track constructed by the present invention,.Such as institute in Fig. 1 and Fig. 2
Show, the technique mainly includes following scheme step：
Step one, for the mechanical arm as plan objects, obtaining includes the multiple parameters related to its end, including
Initial pose, terminal pose and desired trajectory；Then for example by modes such as the conventional knowable inverse kinematics in this area, to count
Calculate and obtain corresponding initial joint vector sum terminal joint vector；
Step 2, selects a series of characteristic point on the desired trajectory, and by the current signature point of mechanical arm tail end
Pose is designated as Yi, corresponding joint vector, which is remembered, is calculated as Oi, next characteristic point pose is designated as Yi+1, corresponding next characteristic point joint
Vector is calculated as Oi+1, wherein i=1 2,3 ... and represents the sequence number of each characteristic point.
Step 3, calculates Δ O=Oi+1-Oi, the step also illustrates that the angular displacement in joint, and according to result of calculation perform with
Lower algorithm process process, namely it is used as the step of key improvements of the present invention place four.
Step 4 specifically includes following sub-step：
Sub-step (41) --- first determine whether whether the element of maximum absolute value in Δ O is less than or equal to default first threshold
Value b0, if so, then to OiAnd Oi+1Target phase between the two performs the first interpolation operation and (namely performs joint space trajectory planning
Processing), it is derived from multiple middle joint vector Oi1,Oi2,…,Oiy, wherein y represents interpolation point during the first interpolation operation
Total quantity；Then, according to the multiple middle joints vector O obtainedi1,Oi2,…,Oiy, mechanical arm is run to next feature
Point, is then transferred to step 5；Wherein consider b0Value can influence the efficiency of algorithm and the error of track, it is corresponding by actual
Contrast test, is finally preferably set to be equal to maximum angular displacement of the steering wheel in a controlling cycle；If it is not, being then transferred to following
Sub-step (42)；
Sub-step (42) --- whether continue the absolute value of k element before judging in Δ O respectively less than or equal to default the
Two threshold value b1.If so, then performing so-called planning subalgorithm processing procedure, specifically namely to OiAnd Oi+1Preceding k element carry out
Second interpolation operation, the joint vector O in k joint before being derived fromk1,Ok2,…,Oky, while for example by well known in the art
Forward kinematics solution mode determines the pose Y corresponding to+1 joint of kthk1,Yk2,…,Yky, wherein y represents the second interpolation operation
During interpolation point total quantity；Then, to YiAnd Yi+1The 3rd interpolation that interpolation point total quantity is similarly y is performed between the two
Operation, and obtain multiple interpolation point Yi1,Yi2,…,Yiy；Finally, respectively for Yk1,Yk2,…,YkyAnd Yi1,Yi2,…,Yiy, example
+ 1 joint of acquisition kth is calculated such as by the way of Inverse Kinematics Solution to the new joint vector in last joint, and according to
According to these new joint vectors, mechanical arm is run to next characteristic point, be then transferred to step 5；
Need to illustrate, where the key improvements as the present invention, the present invention is exactly based on to above-mentioned multiple
Space interpolation and associative operation, accordingly obtain the trajectory planning effect more optimized.If above-mentioned result of calculation twice is
It is no, namely the element of maximum absolute value is more than default first threshold b in Δ O0And the absolute value of k element before in Δ O
More than default Second Threshold b1, then illustrate that the selection of characteristic point is excessively thin in step 2, can not accordingly realize follow-up calculating
And repeatedly space interpolation operation；In the case, the feature dot density in the step can be readjusted, and causes selected spy
Levy a little more intensive, then perform follow-up calculating and space interpolation operation successively according to the algorithm above.
In addition, it is also contemplated that b1, k values can influence the efficiency of algorithm and the error of track, by real in the present invention
Border contrast test, finally preferably sets it to 2.5 times of maximum angular displacement of the steering wheel in a controlling cycle, k value can
It is chosen for joint of mechanical arm number and subtracts three.
Step 5, makes i=i+1, and judges whether the end of mechanical arm reaches home pose, if it is not, before being then back to
The step of three circulated, untill pose is reached home in the end of mechanical arm, thus complete overall trajectory planning process.
The implementation of the planing method according to the present invention by taking six shaft mechanical arms as an example, will be more specifically illustrated below
Journey.
First, the initial pose Y of mechanical arm tail end is given00, terminal pose Y11And desired trajectory, and can be anti-by kinematics
Solution obtains whole story joint vector O00=(θ001,θ002,θ003,θ004,θ005,θ006) and O01=(θ011,θ012,θ013,θ014,θ015,
θ016)。
Then, series of features point Y is selected on desired trajectory.And remember that the current pose of robot is Yi, joint vector is Oi
=(θi1,θi2,θi3,θi4,θi5,θi6), next characteristic point pose is Yi+1, next characteristic point can be tried to achieve by inverse kinematic
Joint vector is Oi+1=(θ(i+1)1,θ(i+1)2,θ(i+1)3,θ(i+1)4,θ(i+1)5,θ(i+1)6)。
Then, Δ O=O is calculatedi+1-Oi, Δ O=(Δ θ1,Δθ2,Δθ3,Δθ4,Δθ5,Δθ6), and according to calculating at
Reason performs following space tracking planning processing and planning subalgorithm processing：
In the process, first determine whether whether the element of maximum absolute value in Δ O is less than or equal to default first threshold
b0If, Max (| Δ θ1|,|Δθ2|,|Δθ3|,|Δθ4|,|Δθ5|,|Δθ6|)≤b0, then to OiAnd Oi+1Enter row interpolation, obtain
A series of middle joint vector Oi1,Oi2,…,Oiy；
Otherwise, then whether the value for being transferred to k element before judging in Δ O is respectively less than default Second Threshold b1If, |
θ(i+1)j-θij|≤b1, j=1,2,3, then Execution plan sub-process, the specific journey of planning subflow is as follows：First, to OiAnd Oi+1's
Preceding k=3 element enters row interpolation, obtains the joint vector O in preceding 3 jointsk1,Ok2,…,Oky, wherein Oky=(θky1,θky2,
θky3)；Then, by the joint vector of first three axle, the position vector Y in the 4th joint can be can obtain by forward kinematics solutionk1,
Yk1……Yky；Then, to YiAnd Yi+1Enter row interpolation, obtain Yi1,Yi2,…,Yiy；Then, can be by the way of Inverse Kinematics Solution
To Yk1,Yk2,…,YkyAnd Yi1,Yi2,…,YiyCalculated, obtain+1 joint of kth to the joint vector in last joint
Oe1,Oe2,…,Oey, wherein Oej=(θey4,θey5,θey6)；Finally, with reference to Ok1,Ok2,…,OkyAnd Oe1,Oe2,…,Oey, obtain one
Serial joint vector Oi1,Oi2,…,Oiy.Wherein Oiy=(θiy1,θiy2,θiy3,θey4,θey5,θey6)。
Then, according to a series of complete joint vectors of gained, mechanical arm is made to run to next characteristic point, i.e. control machine
Each joint angles of tool arm are OiyIndicated angle, is moved in sequence.
Finally, the pose Y if mechanical arm is reached home11, then trajectory planning is completed, calculating Δ O=O is otherwise back toi+1-Oi
The step of and circulated.
To sum up, cartesian space and pass can be merged well according to the method for planning track according to the present invention of the present invention
The respective advantage in space is saved, the features such as being provided simultaneously with high efficiency, high accuracy and strong adaptability is therefore particularly suitable for for example six axle
The small-sized machine arm trajectory planning application scenario of mechanical arm etc.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (7)
1. a kind of method for planning track of mechanical arm, it is characterised in that this method comprises the following steps：
(1) mechanical arm as plan objects is directed to, obtaining includes the multiple parameters related to its end, including initial bit
Appearance, terminal pose and desired trajectory；Then calculate and obtain corresponding initial joint vector sum terminal joint vector；
(2) a series of characteristic point is selected on the desired trajectory, and the current signature point pose of mechanical arm tail end is designated as
Yi, corresponding joint vector, which is remembered, is calculated as Oi, next characteristic point pose is designated as Yi+1, corresponding next characteristic point joint vector is calculated as
Oi+1, wherein i=1 2,3 ... and represents the sequence number of each characteristic point；
(3) Δ O=O is calculatedi+1-Oi；
(4) result of calculation according to step (3), performs following sub-step：
(41) when the element of maximum absolute value in Δ O is less than or equal to default first threshold b0When, first to OiAnd Oi+1Both
Between target phase perform the first interpolation operation, be derived from multiple middle joint vector Oi1,Oi2,…,Oiy, wherein y represents
The total quantity of interpolation point during one interpolation operation；Then, according to the multiple middle joints vector O obtainedi1,Oi2,…,Oiy,
Mechanical arm is run to next characteristic point, be then transferred to step (5)；When the element of maximum absolute value in Δ O is more than default the
One threshold value b0When, directly it is transferred to step (42)；
(42) absolute value of k element is respectively less than or equal to default Second Threshold b before in Δ O1When, first to OiAnd Oi+1's
Preceding k element carries out the second interpolation operation, the joint vector O in k joint before being derived fromk1,Ok2,…,Oky, while determining kth
Pose Y corresponding to+1 jointk1,Yk2,…,Yky, wherein y represents the total quantity of interpolation point during the second interpolation operation；Connect
, to YiAnd Yi+1Interpolation point total quantity is performed between the two and is similarly y the 3rd interpolation operation, and obtains multiple interpolation point Yi1,
Yi2,…,Yiy；Finally, respectively for Yk1,Yk2,…,YkyAnd Yi1,Yi2,…,Yiy, calculate+1 joint of acquisition kth and arrive last
The joint vector in individual joint, and by itself and corresponding Ok1,Ok2,…,OkyWith reference to obtain a series of complete joints vectors, and
Complete according to this series of joint vector makes mechanical arm run to next characteristic point, is then transferred to step (5)；
(5) make i=i+1, and judge whether the end of mechanical arm reaches home pose, followed if it is not, being then back to step (3)
Ring, untill pose is reached home in the end of mechanical arm, thus completes overall trajectory planning process.
2. method for planning track as claimed in claim 1, it is characterised in that in step (2), the selection of the characteristic point is excellent
Choosing is set so that the change at joint of mechanical arm angle is dull.
3. method for planning track as claimed in claim 1 or 2, it is characterised in that the mechanical arm is preferably servo driving
Mechanical arm.
4. method for planning track as claimed in claim 3, it is characterised in that in step (41), the first threshold b0It is preferred that
It is set equal to maximum angular displacement of the steering wheel in a controlling cycle.
5. method for planning track as claimed in claim 4, it is characterised in that in step (42), the Second Threshold b1It is preferred that
It is set 2.5 times equal to maximum angular displacement of the steering wheel in a controlling cycle.
6. the method for planning track as described in claim 1-5 any one, it is characterised in that in step (42), the k's
Numerical value is preferably configured to subtract three equal to the joint number of mechanical arm.
7. method for planning track as claimed in any one of claims 1 to 6, it is characterised in that for above-mentioned first interpolation operation
For, it is preferred to use the mode of linear interpolation；In addition, for described second and the 3rd for interpolation operation, both preferably adopt
Use identical interpolation method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710409081.4A CN107030702B (en) | 2017-06-02 | 2017-06-02 | A kind of method for planning track of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710409081.4A CN107030702B (en) | 2017-06-02 | 2017-06-02 | A kind of method for planning track of mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107030702A true CN107030702A (en) | 2017-08-11 |
| CN107030702B CN107030702B (en) | 2019-04-23 |
Family
ID=59539605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710409081.4A Active CN107030702B (en) | 2017-06-02 | 2017-06-02 | A kind of method for planning track of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107030702B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639626A (en) * | 2017-09-14 | 2018-01-30 | 西南交通大学 | Throttle grverning hydraulic system and power-assisted lower limb exoskeleton |
| CN107696033A (en) * | 2017-09-18 | 2018-02-16 | 北京控制工程研究所 | A kind of space manipulator track Rolling Planning method of view-based access control model measurement |
| CN108081270A (en) * | 2017-12-15 | 2018-05-29 | 中国兵器装备集团自动化研究所 | One kind is used for dangerous goods processing system and control method |
| CN108326852A (en) * | 2018-01-16 | 2018-07-27 | 西北工业大学 | A kind of space manipulator method for planning track of multiple-objection optimization |
| CN108839025A (en) * | 2018-07-12 | 2018-11-20 | 杭州电子科技大学 | A kind of motion planning method and device of mobile mechanical arm |
| CN109910015A (en) * | 2019-04-12 | 2019-06-21 | 成都天富若博特科技有限责任公司 | The terminal end path planning algorithm of construction robot is smeared in a kind of mortar spray |
| WO2022166024A1 (en) * | 2021-02-02 | 2022-08-11 | 哈尔滨思哲睿智能医疗设备有限公司 | Method and device for planning initial poses of surgical arms of laparoscopic surgical robot |
| CN107639626B (en) * | 2017-09-14 | 2024-04-23 | 西南交通大学 | Throttling speed-regulating hydraulic system and power-assisted lower limb exoskeleton |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07200034A (en) * | 1993-12-30 | 1995-08-04 | Nippei Toyama Corp | Device and method for controlling acceleration/ deceleration for working head |
| CN102785248A (en) * | 2012-07-23 | 2012-11-21 | 华中科技大学 | Motion control method of decoupling type 6-DOF (six degrees of freedom) industrial robot |
| CN103009401A (en) * | 2012-12-14 | 2013-04-03 | 安科智慧城市技术（中国）有限公司 | Mechanical arm, control method of mechanical arm and robot |
| CN104526695A (en) * | 2014-12-01 | 2015-04-22 | 北京邮电大学 | Space manipulator track planning method for minimizing base seat collision disturbance |
| CN106166749A (en) * | 2016-06-29 | 2016-11-30 | 北京控制工程研究所 | The motion track planing method of multi-arm robot is moved in a kind of space |
-
2017
- 2017-06-02 CN CN201710409081.4A patent/CN107030702B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07200034A (en) * | 1993-12-30 | 1995-08-04 | Nippei Toyama Corp | Device and method for controlling acceleration/ deceleration for working head |
| CN102785248A (en) * | 2012-07-23 | 2012-11-21 | 华中科技大学 | Motion control method of decoupling type 6-DOF (six degrees of freedom) industrial robot |
| CN103009401A (en) * | 2012-12-14 | 2013-04-03 | 安科智慧城市技术（中国）有限公司 | Mechanical arm, control method of mechanical arm and robot |
| CN104526695A (en) * | 2014-12-01 | 2015-04-22 | 北京邮电大学 | Space manipulator track planning method for minimizing base seat collision disturbance |
| CN106166749A (en) * | 2016-06-29 | 2016-11-30 | 北京控制工程研究所 | The motion track planing method of multi-arm robot is moved in a kind of space |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639626A (en) * | 2017-09-14 | 2018-01-30 | 西南交通大学 | Throttle grverning hydraulic system and power-assisted lower limb exoskeleton |
| CN107639626B (en) * | 2017-09-14 | 2024-04-23 | 西南交通大学 | Throttling speed-regulating hydraulic system and power-assisted lower limb exoskeleton |
| CN107696033A (en) * | 2017-09-18 | 2018-02-16 | 北京控制工程研究所 | A kind of space manipulator track Rolling Planning method of view-based access control model measurement |
| CN108081270A (en) * | 2017-12-15 | 2018-05-29 | 中国兵器装备集团自动化研究所 | One kind is used for dangerous goods processing system and control method |
| CN108081270B (en) * | 2017-12-15 | 2020-05-19 | 中国兵器装备集团自动化研究所 | Dangerous goods processing system and control method |
| CN108326852A (en) * | 2018-01-16 | 2018-07-27 | 西北工业大学 | A kind of space manipulator method for planning track of multiple-objection optimization |
| CN108326852B (en) * | 2018-01-16 | 2021-01-05 | 西北工业大学 | Multi-objective optimization space manipulator trajectory planning method |
| CN108839025A (en) * | 2018-07-12 | 2018-11-20 | 杭州电子科技大学 | A kind of motion planning method and device of mobile mechanical arm |
| CN109910015A (en) * | 2019-04-12 | 2019-06-21 | 成都天富若博特科技有限责任公司 | The terminal end path planning algorithm of construction robot is smeared in a kind of mortar spray |
| WO2022166024A1 (en) * | 2021-02-02 | 2022-08-11 | 哈尔滨思哲睿智能医疗设备有限公司 | Method and device for planning initial poses of surgical arms of laparoscopic surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107030702B (en) | 2019-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107030702A (en) | A kind of method for planning track of mechanical arm | |
| Castagnetti et al. | The domain of admissible orientation concept: a new method for five-axis tool path optimisation | |
| CN104965517B (en) | A kind of planing method of robot cartesian space track | |
| CN112757306B (en) | Inverse solution multi-solution selection and time optimal trajectory planning algorithm for mechanical arm | |
| EP0144442B1 (en) | Method of controlling industrial robot along arc | |
| CN111702762B (en) | Industrial robot operation attitude optimization method | |
| WO2022174658A1 (en) | Rapid optimization and compensation method for rotation shaft spatial localization error of five-axis numerically controlled machine tool | |
| JP5380672B2 (en) | Motion planner, control system, and multi-axis servo system | |
| CN106625666A (en) | Method and device for controlling redundant mechanical arm | |
| CN109857100B (en) | Composite track tracking control algorithm based on inversion method and fast terminal sliding mode | |
| Wang et al. | Optimal trajectory planning of grinding robot based on improved whale optimization algorithm | |
| CN109822576B (en) | Method for generating virtual fixture for robot machining | |
| CN109676613B (en) | Error-controllable arc transition type smooth track generation method for four-axis industrial robot | |
| CN112222703B (en) | Energy consumption optimal trajectory planning method for welding robot | |
| CN109866222A (en) | A kind of manipulator motion planning method based on longicorn palpus optimisation strategy | |
| CN111123943B (en) | Super-redundancy robot track planning method and system based on pseudo-inverse constraint | |
| CN110045600A (en) | A kind of formation iterative learning control method of drive lacking multiple mobile robot | |
| WO2000015395A1 (en) | Method of teaching robot with traveling axis off-line | |
| JP2006053789A (en) | Nc postprocessor device for multi-axis numerical control device | |
| CN115167429A (en) | Method for simultaneously planning position and posture of mobile robot | |
| CN114952852A (en) | NURBS curve speed planning method and equipment for robot and storage medium | |
| CN112215440A (en) | Method, device and equipment for realizing operation control of agricultural vehicle | |
| Zhang et al. | Constrained motion model of mobile robots and its applications | |
| CN111857054A (en) | Numerical control system motion trajectory control method based on neural network | |
| CN107077119A (en) | Numerical control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |