CN107351088B - 一种机器人外部运动路径控制方法 - Google Patents
一种机器人外部运动路径控制方法 Download PDFInfo
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- CN107351088B CN107351088B CN201710770765.7A CN201710770765A CN107351088B CN 107351088 B CN107351088 B CN 107351088B CN 201710770765 A CN201710770765 A CN 201710770765A CN 107351088 B CN107351088 B CN 107351088B
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40519—Motion, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
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Application Number | Priority Date | Filing Date | Title |
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CN201710770765.7A CN107351088B (zh) | 2017-08-31 | 2017-08-31 | 一种机器人外部运动路径控制方法 |
PCT/CN2017/117063 WO2019041658A1 (zh) | 2017-08-31 | 2017-12-19 | 一种机器人外部运动路径控制方法 |
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CN201710770765.7A CN107351088B (zh) | 2017-08-31 | 2017-08-31 | 一种机器人外部运动路径控制方法 |
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CN107351088A CN107351088A (zh) | 2017-11-17 |
CN107351088B true CN107351088B (zh) | 2020-02-14 |
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CN201710770765.7A Active CN107351088B (zh) | 2017-08-31 | 2017-08-31 | 一种机器人外部运动路径控制方法 |
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CN (1) | CN107351088B (zh) |
WO (1) | WO2019041658A1 (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107351088B (zh) * | 2017-08-31 | 2020-02-14 | 南京埃斯顿机器人工程有限公司 | 一种机器人外部运动路径控制方法 |
CN109032052B (zh) * | 2018-06-26 | 2020-09-22 | 上海常仁信息科技有限公司 | 基于机器人身份证的紧急状况智能控制系统 |
CN109108987A (zh) * | 2018-11-09 | 2019-01-01 | 哈尔滨工业大学 | 一种基于EtherCAT的六轴机械臂安全限位方法 |
CN111300389A (zh) * | 2020-02-16 | 2020-06-19 | 上海柴孚机器人有限公司 | 一种工业机器人的运动控制方法 |
CN112781583B (zh) * | 2021-01-29 | 2022-09-30 | 中国计量大学 | 一种用于人机协作环境的路线指引系统及人机协作方法 |
CN117687417A (zh) * | 2024-01-29 | 2024-03-12 | 安徽大学 | 一种工业机器人外部运动轨迹规划方法及系统 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
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US5038089A (en) * | 1988-03-23 | 1991-08-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Synchronized computational architecture for generalized bilateral control of robot arms |
JP2007015037A (ja) * | 2005-07-05 | 2007-01-25 | Sony Corp | ロボットのモーション編集装置及びモーション編集方法、コンピュータ・プログラム、並びにロボット装置 |
US8600554B2 (en) * | 2010-06-04 | 2013-12-03 | Institute Of Automation, Chinese Academy Of Sciences | System and method for robot trajectory generation with continuous accelerations |
MY164500A (en) * | 2011-07-25 | 2017-12-29 | Mimos Berhad | A piezoresistive accelerometer |
US9452533B2 (en) * | 2013-05-15 | 2016-09-27 | Hexagon Technology Center Gmbh | Robot modeling and positioning |
CN103722554B (zh) * | 2014-01-15 | 2015-12-09 | 西北工业大学 | 一种空间遥操作方法 |
JP6278747B2 (ja) * | 2014-02-28 | 2018-02-14 | オリンパス株式会社 | マニピュレータのキャリブレーション方法、マニピュレータ、およびマニピュレータシステム |
CN106625724B (zh) * | 2016-11-29 | 2019-02-22 | 福州大学 | 一种面向云控制平台的工业机器人本体安全控制方法 |
CN106737774A (zh) * | 2017-02-23 | 2017-05-31 | 天津商业大学 | 一种无标定机械臂视觉伺服控制装置 |
CN106826838B (zh) * | 2017-04-01 | 2019-12-31 | 西安交通大学 | 一种基于Kinect视觉深度传感器的交互仿生机械臂控制方法 |
CN106945043B (zh) * | 2017-04-18 | 2020-05-08 | 中国科学院重庆绿色智能技术研究院 | 一种主从式遥操作手术机器人多臂协同控制系统 |
CN107351088B (zh) * | 2017-08-31 | 2020-02-14 | 南京埃斯顿机器人工程有限公司 | 一种机器人外部运动路径控制方法 |
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2017
- 2017-08-31 CN CN201710770765.7A patent/CN107351088B/zh active Active
- 2017-12-19 WO PCT/CN2017/117063 patent/WO2019041658A1/zh active Application Filing
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WO2019041658A1 (zh) | 2019-03-07 |
CN107351088A (zh) | 2017-11-17 |
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Inventor after: Pan Tingting Inventor after: Jing Shuyi Inventor after: Feng Riyue Inventor after: Xia Zhengxian Inventor after: Wang Jihu Inventor after: Wang Jiegao Inventor before: Pan Tingting Inventor before: Jing Shuyi Inventor before: Feng Riyue Inventor before: Xia Zhengxian Inventor before: Wang Jihu Inventor before: Wang Jiegao |
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Inventor after: Feng Riyue Inventor after: Wang Jihu Inventor after: Jing Shuyi Inventor after: Pan Tingting Inventor after: Ding Yadong Inventor after: Xia Zhengxian Inventor before: Pan Tingting Inventor before: Jing Shuyi Inventor before: Feng Riyue Inventor before: Xia Zhengxian Inventor before: Wang Jihu Inventor before: Wang Jiegao |
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