CN108839023B - 拖动示教系统和方法 - Google Patents
拖动示教系统和方法 Download PDFInfo
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- CN108839023B CN108839023B CN201810711257.6A CN201810711257A CN108839023B CN 108839023 B CN108839023 B CN 108839023B CN 201810711257 A CN201810711257 A CN 201810711257A CN 108839023 B CN108839023 B CN 108839023B
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- robot
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- joint
- model
- connecting rod
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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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
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39181—Compensation of coulomb friction in joint
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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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41156—Injection of vibration anti-stick, against static friction, dither, stiction
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41448—Ffw friction compensation for speed error, derived from position reference
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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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43022—Compensate for friction as function of position
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50391—Robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims (4)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810711257.6A CN108839023B (zh) | 2018-07-03 | 2018-07-03 | 拖动示教系统和方法 |
EP19830246.5A EP3819089A4 (en) | 2018-07-03 | 2019-07-02 | SYSTEM AND PROCEDURE FOR DEMONSTRATION OF PULLS |
PCT/CN2019/094431 WO2020007305A1 (zh) | 2018-07-03 | 2019-07-02 | 拖动示教系统和方法 |
US17/257,851 US20210291364A1 (en) | 2018-07-03 | 2019-07-02 | Dragging demonstration system and method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810711257.6A CN108839023B (zh) | 2018-07-03 | 2018-07-03 | 拖动示教系统和方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108839023A CN108839023A (zh) | 2018-11-20 |
CN108839023B true CN108839023B (zh) | 2021-12-07 |
Family
ID=64201006
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810711257.6A Active CN108839023B (zh) | 2018-07-03 | 2018-07-03 | 拖动示教系统和方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20210291364A1 (zh) |
EP (1) | EP3819089A4 (zh) |
CN (1) | CN108839023B (zh) |
WO (1) | WO2020007305A1 (zh) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108839023B (zh) * | 2018-07-03 | 2021-12-07 | 上海节卡机器人科技有限公司 | 拖动示教系统和方法 |
CN109648549A (zh) * | 2018-12-30 | 2019-04-19 | 江苏集萃智能制造技术研究所有限公司 | 机器人轨迹规划方法和机器人 |
CN110861083B (zh) * | 2019-10-25 | 2020-11-24 | 广东省智能制造研究所 | 一种机器人示教方法、装置、存储介质及机器人 |
KR102356660B1 (ko) * | 2019-11-01 | 2022-02-07 | 주식회사 뉴로메카 | 다자유도 협동 로봇의 마찰 보상 방법 |
CN110815190B (zh) * | 2019-11-20 | 2021-07-27 | 福州大学 | 一种工业机器人拖动示教方法及系统 |
CN111390908B (zh) * | 2020-03-26 | 2022-05-17 | 哈尔滨工业大学 | 一种基于网页的机械臂虚拟拖动方法 |
US11717966B2 (en) * | 2020-05-07 | 2023-08-08 | Mujin, Inc. | Method and computing system for determining a value of an error parameter indicative of quality of robot calibration |
CN114274142B (zh) * | 2021-12-17 | 2023-05-16 | 北京航空航天大学杭州创新研究院 | 机器人控制方法及相关装置 |
CN115026842B (zh) * | 2022-08-11 | 2022-12-02 | 深圳市创智机器人有限公司 | 示教轨迹处理方法、装置、终端设备以及存储介质 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009006465A (ja) * | 2007-06-29 | 2009-01-15 | Yaskawa Electric Corp | ダイレクト操作装置および配電作業用ロボット |
CN103425100A (zh) * | 2013-07-23 | 2013-12-04 | 南京航空航天大学 | 基于力矩平衡的机器人直接示教控制方法 |
CN105479459A (zh) * | 2015-12-29 | 2016-04-13 | 深圳市汇川技术股份有限公司 | 机器人零力控制方法以及系统 |
CN106313044A (zh) * | 2016-09-20 | 2017-01-11 | 华南理工大学 | 一种工业机器人前馈力矩补偿方法 |
CN107097233A (zh) * | 2017-04-17 | 2017-08-29 | 珞石(山东)智能科技有限公司 | 一种无力矩传感器的工业机器人拖动示教方法 |
CN107717983A (zh) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | 一种仿人机械臂示教控制方法 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014013605A1 (ja) * | 2012-07-20 | 2014-01-23 | 株式会社安川電機 | ロボットシミュレータ、ロボット教示装置およびロボット教示方法 |
CN108839023B (zh) * | 2018-07-03 | 2021-12-07 | 上海节卡机器人科技有限公司 | 拖动示教系统和方法 |
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2018
- 2018-07-03 CN CN201810711257.6A patent/CN108839023B/zh active Active
-
2019
- 2019-07-02 WO PCT/CN2019/094431 patent/WO2020007305A1/zh unknown
- 2019-07-02 EP EP19830246.5A patent/EP3819089A4/en active Pending
- 2019-07-02 US US17/257,851 patent/US20210291364A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009006465A (ja) * | 2007-06-29 | 2009-01-15 | Yaskawa Electric Corp | ダイレクト操作装置および配電作業用ロボット |
CN103425100A (zh) * | 2013-07-23 | 2013-12-04 | 南京航空航天大学 | 基于力矩平衡的机器人直接示教控制方法 |
CN105479459A (zh) * | 2015-12-29 | 2016-04-13 | 深圳市汇川技术股份有限公司 | 机器人零力控制方法以及系统 |
CN106313044A (zh) * | 2016-09-20 | 2017-01-11 | 华南理工大学 | 一种工业机器人前馈力矩补偿方法 |
CN107097233A (zh) * | 2017-04-17 | 2017-08-29 | 珞石(山东)智能科技有限公司 | 一种无力矩传感器的工业机器人拖动示教方法 |
CN107717983A (zh) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | 一种仿人机械臂示教控制方法 |
Non-Patent Citations (1)
Title |
---|
Experimental identification of the static model of the HPKM Tricept industrial robot;M. Palpacellia,et al;《Advanced Robotics》;20140630;第28卷(第19期);1291-1304 * |
Also Published As
Publication number | Publication date |
---|---|
EP3819089A1 (en) | 2021-05-12 |
CN108839023A (zh) | 2018-11-20 |
WO2020007305A1 (zh) | 2020-01-09 |
EP3819089A4 (en) | 2021-08-04 |
US20210291364A1 (en) | 2021-09-23 |
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Address after: 200241 building 6, 646 Jianchuan Road, Songjiang District, Shanghai Applicant after: SHANGHAI JAKA ROBOTICS Ltd. Address before: 201315 floor 1, building 1, No. 251, Yaohua Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Applicant before: SHANGHAI JAKA ROBOTICS Ltd. |
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Address after: 200241 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant after: SHANGHAI JAKA ROBOTICS Ltd. Address before: 200241 building 6, 646 Jianchuan Road, Songjiang District, Shanghai Applicant before: SHANGHAI JAKA ROBOTICS Ltd. |
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GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address |
Address after: Building 6, 646 Jianchuan Road, Minhang District, Shanghai 201100 Patentee after: Jieka Robot Co.,Ltd. Address before: 200241 building 6, 646 Jianchuan Road, Minhang District, Shanghai Patentee before: SHANGHAI JAKA ROBOTICS Ltd. |
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CP03 | Change of name, title or address |