CN109623815B - 一种用于无人打捞船的波浪补偿双机器人系统及方法 - Google Patents
一种用于无人打捞船的波浪补偿双机器人系统及方法 Download PDFInfo
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- CN109623815B CN109623815B CN201811555841.3A CN201811555841A CN109623815B CN 109623815 B CN109623815 B CN 109623815B CN 201811555841 A CN201811555841 A CN 201811555841A CN 109623815 B CN109623815 B CN 109623815B
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- mechanical arm
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- 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
- B25J9/1694—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
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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
-
- 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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/20—Apparatus engaging vessels or objects using grabs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
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Application Number | Priority Date | Filing Date | Title |
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CN201811555841.3A CN109623815B (zh) | 2018-12-19 | 2018-12-19 | 一种用于无人打捞船的波浪补偿双机器人系统及方法 |
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CN201811555841.3A CN109623815B (zh) | 2018-12-19 | 2018-12-19 | 一种用于无人打捞船的波浪补偿双机器人系统及方法 |
Publications (2)
Publication Number | Publication Date |
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CN109623815A CN109623815A (zh) | 2019-04-16 |
CN109623815B true CN109623815B (zh) | 2021-07-30 |
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CN201811555841.3A Active CN109623815B (zh) | 2018-12-19 | 2018-12-19 | 一种用于无人打捞船的波浪补偿双机器人系统及方法 |
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Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110789689B (zh) * | 2019-10-09 | 2020-10-27 | 苏州科腾软件开发有限公司 | 一种用于水下沉物打捞的可调节固定装置及其固定方法 |
CN111515949B (zh) * | 2020-04-23 | 2021-08-10 | 大连理工大学 | 一种双臂协作机器人的双臂传接位置选取方法 |
CN113341965A (zh) * | 2021-05-31 | 2021-09-03 | 中国舰船研究设计中心 | 无人艇艉滑道自动引导回收的目标跟踪识别装置 |
CN114536399B (zh) * | 2022-01-07 | 2023-04-25 | 中国人民解放军海军军医大学第一附属医院 | 基于多个位姿标识的误差检测方法及机器人系统 |
CN114771772B (zh) * | 2022-03-28 | 2023-12-19 | 广东海洋大学 | 融合视觉与力觉机械臂的水下打捞装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102004021389A1 (de) * | 2004-04-30 | 2005-11-24 | Daimlerchrysler Ag | Verfahren und Vorrichtung zum Verbinden von mindestens zwei Werkstücken |
CN100580372C (zh) * | 2006-07-19 | 2010-01-13 | 中国人民解放军总后勤部军需装备研究所 | 一种军用救生衣对人体的水中姿态控制测试系统 |
JP5423415B2 (ja) * | 2010-01-19 | 2014-02-19 | 株式会社安川電機 | 生産システム |
CN103271784B (zh) * | 2013-06-06 | 2015-06-10 | 山东科技大学 | 基于双目视觉的人机交互式机械手控制系统和控制方法 |
CN106113067B (zh) * | 2016-07-18 | 2018-11-06 | 北京科技大学 | 一种基于双目视觉的双臂移动机器人系统 |
DE102016224456A1 (de) * | 2016-12-08 | 2018-06-14 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Ausrichten von Bauteilen |
CN107186752B (zh) * | 2017-03-28 | 2023-05-16 | 江苏科技大学 | 一种波浪补偿打捞机器人系统 |
CN107571246B (zh) * | 2017-10-13 | 2020-07-31 | 上海神添实业有限公司 | 一种基于双臂机器人的零件装配系统及方法 |
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Effective date of registration: 20211224 Address after: 212003 4, South Xu Road, Zhenjiang, Jiangsu Province, 4 Patentee after: MARINE EQUIPMENT AND TECHNOLOGY INSTITUTE JIANGSU University OF SCIENCE AND TECHNOLOGY Address before: Meng Xi Road 212003 Zhenjiang city of Jiangsu province Jingkou District No. 2 Patentee before: JIANGSU University OF SCIENCE AND TECHNOLOGY Patentee before: MARINE EQUIPMENT AND TECHNOLOGY INSTITUTE JIANGSU University OF SCIENCE AND TECHNOLOGY |
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Effective date of registration: 20220705 Address after: Meng Xi Road 212003 Zhenjiang city of Jiangsu province Jingkou District No. 2 Patentee after: JIANGSU University OF SCIENCE AND TECHNOLOGY Patentee after: Institute of marine equipment, Jiangsu University of science and technology Address before: 212003 4, South Xu Road, Zhenjiang, Jiangsu Province, 4 Patentee before: MARINE EQUIPMENT AND TECHNOLOGY INSTITUTE JIANGSU University OF SCIENCE AND TECHNOLOGY |
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