CN108326858A - 一种蛇形机械臂的姿态获取系统及其使用方法 - Google Patents
一种蛇形机械臂的姿态获取系统及其使用方法 Download PDFInfo
- Publication number
- CN108326858A CN108326858A CN201810297382.7A CN201810297382A CN108326858A CN 108326858 A CN108326858 A CN 108326858A CN 201810297382 A CN201810297382 A CN 201810297382A CN 108326858 A CN108326858 A CN 108326858A
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- Prior art keywords
- mechanical arm
- snakelike mechanical
- posture
- snakelike
- speculum
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 241000270295 Serpentes Species 0.000 claims description 2
- 230000036544 posture Effects 0.000 abstract description 41
- 238000010586 diagram Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- 238000013178 mathematical model Methods 0.000 description 4
- 241001269238 Data Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
Classifications
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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
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- User Interface Of Digital Computer (AREA)
- Image Analysis (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
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CN201810297382.7A CN108326858B (zh) | 2018-03-30 | 2018-03-30 | 一种蛇形机械臂的姿态获取系统的使用方法 |
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CN201810297382.7A CN108326858B (zh) | 2018-03-30 | 2018-03-30 | 一种蛇形机械臂的姿态获取系统的使用方法 |
Publications (2)
Publication Number | Publication Date |
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CN108326858A true CN108326858A (zh) | 2018-07-27 |
CN108326858B CN108326858B (zh) | 2024-03-29 |
Family
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CN201810297382.7A Active CN108326858B (zh) | 2018-03-30 | 2018-03-30 | 一种蛇形机械臂的姿态获取系统的使用方法 |
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Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01103281A (ja) * | 1987-10-13 | 1989-04-20 | Nippon Hoso Kyokai <Nhk> | 関節センサー |
WO1994014084A1 (de) * | 1992-12-15 | 1994-06-23 | Leica Sensortechnik Gmbh | Verfahren und vorrichtng zum aufnehmen eines entfernungsbildes |
CN101096101A (zh) * | 2006-06-26 | 2008-01-02 | 北京航空航天大学 | 机器人足目标定方法和标定装置 |
CN102848389A (zh) * | 2012-08-22 | 2013-01-02 | 浙江大学 | 基于视觉运动捕捉的机械臂标定及跟踪系统实现方法 |
CN104296725A (zh) * | 2014-10-08 | 2015-01-21 | 南开大学 | 机器人可变形操作臂参数标定方法 |
CN106142092A (zh) * | 2016-07-26 | 2016-11-23 | 张扬 | 一种基于立体视觉技术对机器人进行示教的方法 |
CN107263477A (zh) * | 2017-07-07 | 2017-10-20 | 浙江大学 | 一种绳驱动串联关节型蛇形机械臂控制方法 |
CN208051932U (zh) * | 2018-03-30 | 2018-11-06 | 中山市博奥控制技术有限公司 | 一种蛇形机械臂的姿态获取系统 |
-
2018
- 2018-03-30 CN CN201810297382.7A patent/CN108326858B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01103281A (ja) * | 1987-10-13 | 1989-04-20 | Nippon Hoso Kyokai <Nhk> | 関節センサー |
WO1994014084A1 (de) * | 1992-12-15 | 1994-06-23 | Leica Sensortechnik Gmbh | Verfahren und vorrichtng zum aufnehmen eines entfernungsbildes |
CN101096101A (zh) * | 2006-06-26 | 2008-01-02 | 北京航空航天大学 | 机器人足目标定方法和标定装置 |
CN102848389A (zh) * | 2012-08-22 | 2013-01-02 | 浙江大学 | 基于视觉运动捕捉的机械臂标定及跟踪系统实现方法 |
CN104296725A (zh) * | 2014-10-08 | 2015-01-21 | 南开大学 | 机器人可变形操作臂参数标定方法 |
CN106142092A (zh) * | 2016-07-26 | 2016-11-23 | 张扬 | 一种基于立体视觉技术对机器人进行示教的方法 |
CN107263477A (zh) * | 2017-07-07 | 2017-10-20 | 浙江大学 | 一种绳驱动串联关节型蛇形机械臂控制方法 |
CN208051932U (zh) * | 2018-03-30 | 2018-11-06 | 中山市博奥控制技术有限公司 | 一种蛇形机械臂的姿态获取系统 |
Non-Patent Citations (1)
Title |
---|
徐德,谭民,李原: "机器人视觉控制", vol. 1, 国防工业出版社, pages: 7 * |
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Publication number | Publication date |
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CN108326858B (zh) | 2024-03-29 |
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