CN109291055B - 机器人运动控制方法、装置、计算机设备和存储介质 - Google Patents
机器人运动控制方法、装置、计算机设备和存储介质 Download PDFInfo
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- CN109291055B CN109291055B CN201811442495.8A CN201811442495A CN109291055B CN 109291055 B CN109291055 B CN 109291055B CN 201811442495 A CN201811442495 A CN 201811442495A CN 109291055 B CN109291055 B CN 109291055B
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- robot
- power
- joint motor
- total power
- motion
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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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- 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
Abstract
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CN201811442495.8A CN109291055B (zh) | 2018-11-29 | 2018-11-29 | 机器人运动控制方法、装置、计算机设备和存储介质 |
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CN109291055A CN109291055A (zh) | 2019-02-01 |
CN109291055B true CN109291055B (zh) | 2021-06-01 |
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Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110026984A (zh) * | 2019-05-08 | 2019-07-19 | 苏州东控自动化科技有限公司 | 一种基于大功率输出机器人的智能协作控制方法 |
CN111537123B (zh) * | 2020-02-28 | 2022-08-23 | 重庆大学 | 工业机器人功率预测方法 |
CN111625446B (zh) * | 2020-04-30 | 2023-05-23 | 库卡机器人制造(上海)有限公司 | 软件测试方法、装置、计算机可读介质及电子设备 |
CN111531540B (zh) * | 2020-05-09 | 2022-02-18 | 广州明珞汽车装备有限公司 | 一种机器人控制方法、系统、装置和存储介质 |
CN112025699B (zh) * | 2020-07-21 | 2022-04-05 | 珠海格力电器股份有限公司 | 确定机器人运行参数的方法和装置以及机器人的控制系统 |
CN114425770A (zh) * | 2020-10-29 | 2022-05-03 | 北京配天技术有限公司 | 一种工业机器人示教控制方法、电子设备和存储介质 |
CN113110480B (zh) * | 2021-04-27 | 2024-04-16 | 上海电气集团股份有限公司 | 机器人主被动混合控制方法、系统、电子设备及存储介质 |
EP4349539A1 (en) * | 2022-10-03 | 2024-04-10 | Kassow Robots ApS | Handling variable power in a robot and associated method |
Citations (6)
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CN102361430A (zh) * | 2011-10-26 | 2012-02-22 | 哈尔滨工业大学 | 一种内置式永磁同步电机无位置传感器矢量控制装置 |
CN105022269A (zh) * | 2015-07-13 | 2015-11-04 | 北京航空航天大学 | 仿生机器鱼关节的控制方法及装置 |
CN105983966A (zh) * | 2015-02-13 | 2016-10-05 | 广明光电股份有限公司 | 机器手臂的控制装置及方法 |
CN106061688A (zh) * | 2014-03-04 | 2016-10-26 | 优傲机器人公司 | 用于工业机器人的安全系统 |
CN107199569A (zh) * | 2017-06-22 | 2017-09-26 | 华中科技大学 | 一种基于关节能量均衡分配的关节机器人轨迹规划方法 |
CN108621157A (zh) * | 2018-04-27 | 2018-10-09 | 上海师范大学 | 基于模型约束的机械臂能量最优轨迹规划控制方法及装置 |
Family Cites Families (1)
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US9352465B2 (en) * | 2013-11-12 | 2016-05-31 | Canon Kabushiki Kaisha | Control method for robot apparatus and robot apparatus |
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- 2018-11-29 CN CN201811442495.8A patent/CN109291055B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102361430A (zh) * | 2011-10-26 | 2012-02-22 | 哈尔滨工业大学 | 一种内置式永磁同步电机无位置传感器矢量控制装置 |
CN106061688A (zh) * | 2014-03-04 | 2016-10-26 | 优傲机器人公司 | 用于工业机器人的安全系统 |
CN105983966A (zh) * | 2015-02-13 | 2016-10-05 | 广明光电股份有限公司 | 机器手臂的控制装置及方法 |
CN105022269A (zh) * | 2015-07-13 | 2015-11-04 | 北京航空航天大学 | 仿生机器鱼关节的控制方法及装置 |
CN107199569A (zh) * | 2017-06-22 | 2017-09-26 | 华中科技大学 | 一种基于关节能量均衡分配的关节机器人轨迹规划方法 |
CN108621157A (zh) * | 2018-04-27 | 2018-10-09 | 上海师范大学 | 基于模型约束的机械臂能量最优轨迹规划控制方法及装置 |
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Application publication date: 20190201 Assignee: GUANGDONG MIDEA INTELLIGENT ROBOT Co.,Ltd. Assignor: KUKA ROBOT (GUANGDONG) Co.,Ltd. Contract record no.: X2021440000224 Denomination of invention: Robot motion control method, device, computer equipment and storage medium Granted publication date: 20210601 License type: Common License Record date: 20211217 Application publication date: 20190201 Assignee: GUANGDONG MIDEA YASKAWA SERVICE ROBOT Co.,Ltd. Assignor: KUKA ROBOT (GUANGDONG) Co.,Ltd. Contract record no.: X2021440000225 Denomination of invention: Robot motion control method, device, computer equipment and storage medium Granted publication date: 20210601 License type: Common License Record date: 20211217 |
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Application publication date: 20190201 Assignee: GUANGDONG MIDEA YASKAWA SERVICE ROBOT Co.,Ltd. Assignor: KUKA ROBOT (GUANGDONG) Co.,Ltd. Contract record no.: X2021980015120 Denomination of invention: Robot motion control method, device, computer equipment and storage medium Granted publication date: 20210601 License type: Common License Record date: 20211222 |
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