CN110026986B - 多臂协同作业柔顺控制方法 - Google Patents
多臂协同作业柔顺控制方法 Download PDFInfo
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- CN110026986B CN110026986B CN201910443259.6A CN201910443259A CN110026986B CN 110026986 B CN110026986 B CN 110026986B CN 201910443259 A CN201910443259 A CN 201910443259A CN 110026986 B CN110026986 B CN 110026986B
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Feedback Control In General (AREA)
- Manipulator (AREA)
Abstract
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CN201910443259.6A CN110026986B (zh) | 2019-05-24 | 2019-05-24 | 多臂协同作业柔顺控制方法 |
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CN201910443259.6A CN110026986B (zh) | 2019-05-24 | 2019-05-24 | 多臂协同作业柔顺控制方法 |
Publications (2)
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CN110026986A CN110026986A (zh) | 2019-07-19 |
CN110026986B true CN110026986B (zh) | 2022-01-11 |
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CN201910443259.6A Active CN110026986B (zh) | 2019-05-24 | 2019-05-24 | 多臂协同作业柔顺控制方法 |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN111975770B (zh) * | 2020-07-29 | 2022-07-26 | 西北工业大学 | 一种采用空间双臂机器人的自旋目标抓捕方法 |
CN112091972B (zh) * | 2020-08-24 | 2023-03-31 | 上海大学 | 一种基于刚度性能的多机器人系统姿态与布局方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011068227A1 (en) * | 2009-12-02 | 2011-06-09 | Canon Kabushiki Kaisha | Dual arm robot |
CN106426174A (zh) * | 2016-11-05 | 2017-02-22 | 上海大学 | 一种基于力矩观测和摩擦辨识的机器人接触力检测方法 |
CN106695797A (zh) * | 2017-02-22 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | 基于双臂机器人协同操作的柔顺控制方法及系统 |
CN108436913A (zh) * | 2018-04-19 | 2018-08-24 | 南京航空航天大学 | 一种力协调的多臂机器人柔顺控制方法 |
CN109108981A (zh) * | 2018-09-28 | 2019-01-01 | 江苏省(扬州)数控机床研究院 | 一种基于扰动观测器的并联机器人阻抗控制方法 |
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2019
- 2019-05-24 CN CN201910443259.6A patent/CN110026986B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011068227A1 (en) * | 2009-12-02 | 2011-06-09 | Canon Kabushiki Kaisha | Dual arm robot |
CN106426174A (zh) * | 2016-11-05 | 2017-02-22 | 上海大学 | 一种基于力矩观测和摩擦辨识的机器人接触力检测方法 |
CN106695797A (zh) * | 2017-02-22 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | 基于双臂机器人协同操作的柔顺控制方法及系统 |
CN108436913A (zh) * | 2018-04-19 | 2018-08-24 | 南京航空航天大学 | 一种力协调的多臂机器人柔顺控制方法 |
CN109108981A (zh) * | 2018-09-28 | 2019-01-01 | 江苏省(扬州)数控机床研究院 | 一种基于扰动观测器的并联机器人阻抗控制方法 |
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CN110026986A (zh) | 2019-07-19 |
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Inventor after: Ding Ning Inventor after: Yu Xinchen Inventor after: Zhang Yu Inventor after: Xu Chunjian Inventor after: Tao Mingrong Inventor after: Han Liang Inventor before: Gao Shan Inventor before: Kong Xiang Inventor before: Wang Yuntao Inventor before: Liu Yanling Inventor before: Zheng Ningjing |
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