CN108068113B - 7-dof仿人臂飞行物体作业最小加速度轨迹优化 - Google Patents
7-dof仿人臂飞行物体作业最小加速度轨迹优化 Download PDFInfo
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- CN108068113B CN108068113B CN201711119672.4A CN201711119672A CN108068113B CN 108068113 B CN108068113 B CN 108068113B CN 201711119672 A CN201711119672 A CN 201711119672A CN 108068113 B CN108068113 B CN 108068113B
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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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- Engineering & Computer Science (AREA)
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CN201711119672.4A CN108068113B (zh) | 2017-11-13 | 2017-11-13 | 7-dof仿人臂飞行物体作业最小加速度轨迹优化 |
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CN201711119672.4A CN108068113B (zh) | 2017-11-13 | 2017-11-13 | 7-dof仿人臂飞行物体作业最小加速度轨迹优化 |
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CN108068113A CN108068113A (zh) | 2018-05-25 |
CN108068113B true CN108068113B (zh) | 2020-06-12 |
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Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109262612B (zh) * | 2018-10-09 | 2021-09-17 | 北京邮电大学 | 一种基于改进粒子群算法的欠驱动机械臂关节角寻优方法 |
CN109711527B (zh) * | 2018-12-25 | 2023-07-28 | 珞石(山东)智能科技有限公司 | 一种基于粒子群优化算法的机器人操纵方法 |
CN109866222B (zh) * | 2019-02-26 | 2020-09-01 | 杭州电子科技大学 | 一种基于天牛须优化策略的机械臂运动规划方法 |
CN113156925B (zh) * | 2020-01-07 | 2022-11-29 | 四川省桑瑞光辉标识系统股份有限公司 | 一种基于对抗网络的双足机器人行走控制方法及电子设备 |
CN111474949B (zh) * | 2020-01-14 | 2023-12-26 | 一飞智控(天津)科技有限公司 | 无人机集群飞行可行路径轨迹规划方法、无人机群及介质 |
CN112157661B (zh) * | 2020-12-02 | 2021-03-05 | 成都卡诺普自动化控制技术有限公司 | 一种基于机器人动力学的关节运动轨迹优化方法 |
CN113435025B (zh) * | 2021-06-22 | 2023-04-07 | 同济大学 | 一种结合多级优化模型的机器人高性能轨迹自动生成方法 |
CN113561189B (zh) * | 2021-09-27 | 2021-12-31 | 深圳市优必选科技股份有限公司 | 冗余度机器人的关节加速度规划方法、装置、设备及介质 |
CN115958596B (zh) * | 2022-12-05 | 2023-09-29 | 广州工程技术职业学院 | 双冗余机械臂运动规划方法及装置、设备、存储介质 |
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CA2752701C (en) * | 2009-02-27 | 2016-04-26 | Bell Helicopter Textron Inc. | System and method for vibration control in a rotorcraft using an adaptive reference model algorithm |
CN105159096B (zh) * | 2015-10-10 | 2017-08-29 | 北京邮电大学 | 一种基于粒子群算法的冗余度空间机械臂关节力矩优化方法 |
CN106064377B (zh) * | 2016-06-02 | 2018-06-29 | 西北工业大学 | 一种空间机器人动力学参数辨识的激励轨迹优化方法 |
CN107160396B (zh) * | 2017-06-09 | 2019-11-08 | 杭州新松机器人自动化有限公司 | 一种基于轨迹优化的机器人振动控制器及方法 |
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Effective date of registration: 20210518 Address after: 1 / F, building B1, Dongfang Chuangzhi garden, 18 JinFang Road, Suzhou Industrial Park, 215000, Jiangsu Province Patentee after: Suzhou Jiuwu Interchange Intelligent Technology Co.,Ltd. Address before: 215000 8 Ji Xue Road, Xiangcheng District, Suzhou, Jiangsu. Patentee before: SOOCHOW University |
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Address after: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Jiuwu interworking Intelligent Technology Co.,Ltd. Address before: 1 / F, building B1, Dongfang Chuangzhi garden, 18 JinFang Road, Suzhou Industrial Park, 215000, Jiangsu Province Patentee before: Suzhou Jiuwu Interchange Intelligent Technology Co.,Ltd. |
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Address after: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Jiuwu Intelligent Technology Co.,Ltd. Address before: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: Suzhou Jiuwu interworking Intelligent Technology Co.,Ltd. |