CN109676634B - 自抗扰控制器及工业机器人 - Google Patents
自抗扰控制器及工业机器人 Download PDFInfo
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- CN109676634B CN109676634B CN201810984279.XA CN201810984279A CN109676634B CN 109676634 B CN109676634 B CN 109676634B CN 201810984279 A CN201810984279 A CN 201810984279A CN 109676634 B CN109676634 B CN 109676634B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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CN109676634A CN109676634A (zh) | 2019-04-26 |
CN109676634B true CN109676634B (zh) | 2021-02-19 |
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Families Citing this family (15)
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CN110034715B (zh) * | 2019-05-28 | 2020-09-11 | 广东工业大学 | 一种基于扰动估计的音圈电机运动控制方法及相关设备 |
CN110347162A (zh) * | 2019-07-29 | 2019-10-18 | 南京市晨枭软件技术有限公司 | 一种工业机器人路径自动修正的方法及系统 |
CN110635734B (zh) * | 2019-09-24 | 2021-01-26 | 南京工业大学 | 一种永磁同步电机转速分数阶滑模控制方法 |
CN110824919A (zh) * | 2019-10-31 | 2020-02-21 | 北京交通大学 | 一种直流电脑鼠自动控制方法和系统 |
CN111030509B (zh) * | 2019-11-27 | 2023-10-03 | 重庆大学 | 一种基于力失衡驱动的二维平面悬浮运动的装置和方法 |
CN111077897B (zh) * | 2020-02-11 | 2022-04-29 | 衡阳师范学院 | 一种改进型非线性pid的四旋翼飞行器控制方法 |
CN111413865B (zh) * | 2020-03-05 | 2021-07-13 | 清华大学 | 一种扰动补偿的单回路过热汽温自抗扰控制方法 |
CN111431456B (zh) * | 2020-03-10 | 2021-12-17 | 浙江工业大学 | 一种永磁同步电机有限集多步模型预测电流控制方法 |
CN112223286B (zh) * | 2020-09-30 | 2022-08-05 | 齐鲁工业大学 | 一种非均匀牵引力机械臂末端牵引遥操作控制方法 |
CN112462614B (zh) * | 2020-12-08 | 2021-06-25 | 北京品德技术有限公司 | 改进的ladrc线性自抗扰控制系统及参数整定方法 |
CN112650268B (zh) * | 2020-12-25 | 2024-06-18 | 深圳市优必选科技股份有限公司 | 机器人的运动控制方法、装置、机器人及存储介质 |
CN113031622A (zh) * | 2021-03-24 | 2021-06-25 | 中国长江电力股份有限公司 | 大惯量清漂机器人精确定位控制方法 |
CN113669163B (zh) * | 2021-08-13 | 2023-01-03 | 哈尔滨工程大学 | 一种基于自抗扰控制的串级燃气轮机转速控制方法 |
CN114619446B (zh) * | 2022-03-11 | 2023-11-03 | 广东工业大学 | 基于双观测器的轨迹跟踪控制方法及系统 |
CN114967718B (zh) * | 2022-05-06 | 2023-03-28 | 四川大学 | 一种控制受限下的四旋翼轨迹跟踪最优控制方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
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EP2409897B1 (en) * | 2009-02-23 | 2013-09-04 | Showa Corporation | Electric Power Steering Apparatus and Control Method thereof |
CN102799113A (zh) * | 2012-08-01 | 2012-11-28 | 中国电子科技集团公司第十研究所 | 自抗扰控制技术伺服系统控制方法 |
JP2016159367A (ja) * | 2015-02-26 | 2016-09-05 | ファナック株式会社 | ロボットの動作モードを自動的に切替えるロボット制御装置 |
CN106272428B (zh) * | 2016-09-13 | 2018-10-09 | 江苏大学 | 一种苹果采摘机器人末端执行器抓取力主动柔顺控制方法 |
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Effective date of registration: 20230717 Address after: Room 101-107, 1st Floor, Building 2, No. 23, No. 10 Street, Baiyang Street, Qiantang New District, Hangzhou City, Zhejiang Province, 310018 Patentee after: HANGZHOU JUNCHEN ROBOT Co.,Ltd. Patentee after: HANGZHOU HUICUI INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 310018 Xiasha Higher Education Zone, Hangzhou, Zhejiang Patentee before: HANGZHOU DIANZI University Patentee before: HANGZHOU HUICUI INTELLIGENT TECHNOLOGY CO.,LTD. Patentee before: JINHUA MSTAR INTELLIGENT TECHNOLOGY CO.,LTD. Patentee before: SHENZHEN MSTAR INTELLIGENT TECHNOLOGY Co.,Ltd. Patentee before: GUANGDONG GUANGYUAN INTELLIGENT TECHNOLOGY Co.,Ltd. |
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