CN109656139B - 机器人驱控一体系统的自适应建模方法 - Google Patents
机器人驱控一体系统的自适应建模方法 Download PDFInfo
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- CN109656139B CN109656139B CN201811605226.9A CN201811605226A CN109656139B CN 109656139 B CN109656139 B CN 109656139B CN 201811605226 A CN201811605226 A CN 201811605226A CN 109656139 B CN109656139 B CN 109656139B
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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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
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- Artificial Intelligence (AREA)
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- Automation & Control Theory (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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CN109656139A CN109656139A (zh) | 2019-04-19 |
CN109656139B true CN109656139B (zh) | 2021-09-03 |
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Families Citing this family (4)
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CN110450154A (zh) * | 2019-07-18 | 2019-11-15 | 广州弘度信息科技有限公司 | 一种基于动力学的机械臂柔性控制方法 |
CN110850709B (zh) * | 2019-10-21 | 2023-08-01 | 浙江中控技术股份有限公司 | 用于pid参数的渐进式整定方法 |
CN112157650B (zh) * | 2020-08-17 | 2022-10-25 | 盐城工学院 | 车载机械臂动力学建模与控制方法 |
CN114800536B (zh) * | 2022-06-30 | 2022-09-16 | 上海捷勃特机器人有限公司 | 多连杆机器人的动力学参数辨识方法和装置 |
Citations (1)
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CN108527330A (zh) * | 2018-05-05 | 2018-09-14 | 深圳市越疆科技有限公司 | 交互式驱控一体装置、模块式机器人和存储介质 |
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SE0301531L (sv) * | 2003-05-22 | 2004-11-23 | Abb Ab | A Control method for a robot |
CN102207988B (zh) * | 2011-06-07 | 2014-10-29 | 北京邮电大学 | 一种多自由度机械臂高效动力学建模方法 |
CN104391477A (zh) * | 2014-11-12 | 2015-03-04 | 上海交通大学 | 一种驱控一体的网络化智能控制器 |
CN105364926A (zh) * | 2015-11-20 | 2016-03-02 | 上海新时达电气股份有限公司 | 一种多轴机器人驱控一体化控制系统 |
CN106881714A (zh) * | 2015-12-15 | 2017-06-23 | 上海优爱宝机器人技术有限公司 | 一种scara机器人的控制系统及安装该系统的机器人 |
CN106737673B (zh) * | 2016-12-23 | 2019-06-18 | 浙江大学 | 一种基于深度学习的端到端的机械臂控制的方法 |
CN107160390B (zh) * | 2017-05-16 | 2020-05-19 | 中国科学院沈阳自动化研究所 | 一种用于协作机器人的驱控一体化控制系统及其制备方法 |
CN108241373B (zh) * | 2017-12-29 | 2022-12-30 | 日照市越疆智能科技有限公司 | 避障方法和智能机器人 |
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CN108527330A (zh) * | 2018-05-05 | 2018-09-14 | 深圳市越疆科技有限公司 | 交互式驱控一体装置、模块式机器人和存储介质 |
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Inventor after: Lang Xulin Inventor after: Liu Peichao Inventor after: Huang Rui Inventor after: Lin Jionghui Inventor after: Lin Junkai Inventor before: Lang Zulin Inventor before: Liu Peichao Inventor before: Huang Rui Inventor before: Lin Jionghui Inventor before: Lin Junkai |
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Address after: 518000 1003, building 2, Chongwen Park, Nanshan wisdom Park, 3370 Liuxian Avenue, Fuguang community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Yuejiang Technology Co.,Ltd. Address before: 518055 3rd floor, building 3, tongfuyu industrial city, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |