CN110103220B - 机器人高速高精度运动轨迹规划方法、装置、设备及介质 - Google Patents
机器人高速高精度运动轨迹规划方法、装置、设备及介质 Download PDFInfo
- Publication number
- CN110103220B CN110103220B CN201910416341.XA CN201910416341A CN110103220B CN 110103220 B CN110103220 B CN 110103220B CN 201910416341 A CN201910416341 A CN 201910416341A CN 110103220 B CN110103220 B CN 110103220B
- Authority
- CN
- China
- Prior art keywords
- robot
- motion
- trajectory
- speed
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 137
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000007493 shaping process Methods 0.000 claims abstract description 46
- 239000011159 matrix material Substances 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 13
- 230000004044 response Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 8
- 238000013016 damping Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 230000014509 gene expression Effects 0.000 claims description 6
- 230000002401 inhibitory effect Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Images
Classifications
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910416341.XA CN110103220B (zh) | 2019-05-20 | 2019-05-20 | 机器人高速高精度运动轨迹规划方法、装置、设备及介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910416341.XA CN110103220B (zh) | 2019-05-20 | 2019-05-20 | 机器人高速高精度运动轨迹规划方法、装置、设备及介质 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110103220A CN110103220A (zh) | 2019-08-09 |
CN110103220B true CN110103220B (zh) | 2021-11-26 |
Family
ID=67491048
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910416341.XA Active CN110103220B (zh) | 2019-05-20 | 2019-05-20 | 机器人高速高精度运动轨迹规划方法、装置、设备及介质 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110103220B (zh) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110632892B (zh) * | 2019-08-23 | 2022-10-18 | 深圳科瑞技术股份有限公司 | 适应运动系统轨迹误差的输入整形残余振动抑制方法及系统 |
CN110948482A (zh) * | 2019-11-06 | 2020-04-03 | 江苏信息职业技术学院 | 一种冗余机器人轨迹规划方法 |
CN111077775B (zh) * | 2019-12-12 | 2021-01-08 | 固高伺创驱动技术(深圳)有限公司 | 两自由度控制系统、控制方法、控制设备及存储介质 |
CN111015661B (zh) * | 2019-12-24 | 2021-06-04 | 北京无线电测量研究所 | 一种机器人柔性负载主动振动控制方法和系统 |
CN111046510B (zh) * | 2019-12-30 | 2023-09-22 | 南京埃斯顿机器人工程有限公司 | 一种基于轨迹分段优化的柔性机械臂的振动抑制方法 |
CN111367170B (zh) * | 2020-02-11 | 2023-08-08 | 固高科技股份有限公司 | 输入整形器设计方法 |
CN111958600B (zh) * | 2020-08-19 | 2022-03-18 | 南京埃斯顿机器人工程有限公司 | 一种工业机器人停止过程段的振动抑制方法 |
CN114619483A (zh) * | 2020-12-08 | 2022-06-14 | 山东新松工业软件研究院股份有限公司 | 基于轨迹校正的柔性机器人振动抑制方法及其系统 |
CN112792808B (zh) * | 2020-12-24 | 2022-09-02 | 珞石(山东)智能科技有限公司 | 基于变结构滤波器的工业机器人在线轨迹规划方法及装置 |
CN113110568B (zh) * | 2021-03-13 | 2022-09-20 | 浙江御穹电子科技有限公司 | 一种无人机运动轨迹规划方法 |
CN113043276A (zh) * | 2021-03-30 | 2021-06-29 | 深圳市优必选科技股份有限公司 | 机器人及其躯干晃动抑制方法和装置 |
CN113985887A (zh) * | 2021-11-04 | 2022-01-28 | 北京京东乾石科技有限公司 | 差速移动机器人运动轨迹生成方法和运动控制装置 |
CN113858213B (zh) * | 2021-11-09 | 2023-07-25 | 南京埃斯顿机器人工程有限公司 | 一种用于目标同步的机器人动态轨迹规划方法 |
CN114505844B (zh) * | 2022-01-24 | 2023-06-20 | 华南理工大学 | 一种面向工业机器人的残余振动抑制系统及方法 |
CN114434450B (zh) * | 2022-04-08 | 2022-07-26 | 智昌科技集团股份有限公司 | 基于轨迹优化控制的柔性关节抖动抑制方法及系统 |
CN116512245A (zh) * | 2023-03-13 | 2023-08-01 | 之江实验室 | 一种柔性关节机械臂残余振动抑制的轨迹优化方法及装置 |
CN116107263B (zh) * | 2023-04-13 | 2023-07-21 | 苏州艾科瑞思智能装备股份有限公司 | 一种消除末端器件残余振动的方法、装置、工控机及介质 |
CN116700150B (zh) * | 2023-07-13 | 2024-01-30 | 哈尔滨工业大学 | 精密运动平台点位运动鲁棒轨迹规划系统及其规划方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013223895A (ja) * | 2012-04-20 | 2013-10-31 | Jtekt Corp | ロボット制御方法及びロボット制御装置 |
CN106503373A (zh) * | 2016-11-04 | 2017-03-15 | 湘潭大学 | 一种基于b样条曲线的双机器人协调装配的轨迹规划方法 |
CN107433589A (zh) * | 2017-07-28 | 2017-12-05 | 珞石(山东)智能科技有限公司 | 基于加速度传感器的机器人振动抑制方法 |
CN107738273A (zh) * | 2017-10-16 | 2018-02-27 | 华南理工大学 | 一种基于输入整形器的机器人关节末端残余振动抑制方法 |
CN108549321A (zh) * | 2018-04-10 | 2018-09-18 | 广州启帆工业机器人有限公司 | 一种综合时间能量跃度的工业机器人轨迹生成方法及系统 |
-
2019
- 2019-05-20 CN CN201910416341.XA patent/CN110103220B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013223895A (ja) * | 2012-04-20 | 2013-10-31 | Jtekt Corp | ロボット制御方法及びロボット制御装置 |
CN106503373A (zh) * | 2016-11-04 | 2017-03-15 | 湘潭大学 | 一种基于b样条曲线的双机器人协调装配的轨迹规划方法 |
CN107433589A (zh) * | 2017-07-28 | 2017-12-05 | 珞石(山东)智能科技有限公司 | 基于加速度传感器的机器人振动抑制方法 |
CN107738273A (zh) * | 2017-10-16 | 2018-02-27 | 华南理工大学 | 一种基于输入整形器的机器人关节末端残余振动抑制方法 |
CN108549321A (zh) * | 2018-04-10 | 2018-09-18 | 广州启帆工业机器人有限公司 | 一种综合时间能量跃度的工业机器人轨迹生成方法及系统 |
Also Published As
Publication number | Publication date |
---|---|
CN110103220A (zh) | 2019-08-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110103220B (zh) | 机器人高速高精度运动轨迹规划方法、装置、设备及介质 | |
CN110065070B (zh) | 一种基于动力学模型的机器人自适应阻抗控制系统 | |
Zhang et al. | Time-optimal and smooth trajectory planning for robot manipulators | |
CN108527372B (zh) | 一种变刚度串联弹性驱动器的机器人关节自适应控制方法 | |
CN107942670B (zh) | 一种双柔性空间机械臂模糊鲁棒滑模削抖运动控制方法 | |
CN104723340A (zh) | 基于连接和阻尼配置的柔性关节机械臂的阻抗控制方法 | |
CN110053044B (zh) | 一种并联机器人串类水果夹取无模型自适应光滑滑模阻抗控制方法 | |
CN107169196B (zh) | 空间机器人由末端执行器向基座的动力学建模方法 | |
CN110842913B (zh) | 一种单关节机械臂的自适应滑模迭代学习控制方法 | |
Sarkhel et al. | Fuzzy logic-based tuning of PID controller to control flexible manipulators | |
CN109648564B (zh) | 一种基于递阶结构mpc的多自由度柔性关节机械臂系统的控制方法 | |
CN115890735B (zh) | 机械臂系统、机械臂及其控制方法、控制器和存储介质 | |
CN112237524A (zh) | 柔性上肢康复机器人被动康复训练的控制方法 | |
CN111805536A (zh) | 一种水果分拣并联机器人机构考虑耦合作用自适应滑模控制方法 | |
CN111319042A (zh) | 一种基于遗忘因子动态参数的机器人柔顺装配控制方法 | |
Jiang et al. | Model-free control of flexible manipulator based on intrinsic design | |
Agrawal et al. | A differentially flat open-chain space robot with arbitrarily oriented joint axes and two momentum wheels at the base | |
CN113219825B (zh) | 一种四足机器人单腿轨迹跟踪控制方法及系统 | |
CN114310965A (zh) | 无需关节力矩测量的机械臂阻抗控制方法及系统 | |
CN108227493B (zh) | 一种机器人轨迹跟踪方法 | |
CN112276952B (zh) | 一种多机器人系统的鲁棒同时镇定方法及系统 | |
Zarafshan et al. | Control of a space robot with flexible members | |
Boscariol et al. | Design of a controller for trajectory tracking for compliant mechanisms with effective vibration suppression | |
Saeed et al. | Model-Based Control of Planar Rigid-Flexible Manipulator | |
Subudhi et al. | On the singular perturbation approach to trajectory control of a multilink manipulator with flexible links and joints |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CB03 | Change of inventor or designer information |
Inventor after: Zhang Tie Inventor after: Zhang Meihui Inventor after: Zou Yanbiao Inventor after: Tang Jianrui Inventor after: Yu Tianrong Inventor before: Zhang Tie Inventor before: Zhang Meihui Inventor before: Zou Yanbiao |
|
CB03 | Change of inventor or designer information | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231013 Address after: 510000 No. five mountain road, Tianhe District, Guangzhou, Guangdong 381 Patentee after: SOUTH CHINA University OF TECHNOLOGY Patentee after: MODERN INDUSTRY TECHNOLOGY RESEARCH INSTITUTE ZHONGSHAN SOUTH CHINA University OF TECHNOLOGY Patentee after: GSK CNC EQUIPMENT Co.,Ltd. Address before: 510640 No. five, 381 mountain road, Guangzhou, Guangdong, Tianhe District Patentee before: SOUTH CHINA University OF TECHNOLOGY Patentee before: MODERN INDUSTRY TECHNOLOGY RESEARCH INSTITUTE ZHONGSHAN SOUTH CHINA University OF TECHNOLOGY |
|
TR01 | Transfer of patent right |