CN110253578A - Scara机器人及其运动控制方法、系统及相关组件 - Google Patents
Scara机器人及其运动控制方法、系统及相关组件 Download PDFInfo
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- CN110253578A CN110253578A CN201910543441.9A CN201910543441A CN110253578A CN 110253578 A CN110253578 A CN 110253578A CN 201910543441 A CN201910543441 A CN 201910543441A CN 110253578 A CN110253578 A CN 110253578A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 238000009826 distribution Methods 0.000 claims abstract description 13
- 238000004590 computer program Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 abstract description 15
- 230000001360 synchronised effect Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000007429 general method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Classifications
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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
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111496798A (zh) * | 2020-05-18 | 2020-08-07 | 北京配天技术有限公司 | 机器人传送带跟踪方法、设备及存储装置 |
CN114227655A (zh) * | 2021-12-30 | 2022-03-25 | 深圳市英威腾电气股份有限公司 | 确定规划路径的方法、装置、scara机器人及介质 |
Citations (8)
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CN103970139A (zh) * | 2014-05-09 | 2014-08-06 | 上海交通大学 | 一种机器人连续点位运动规划方法及其运动控制器 |
CN104191428A (zh) * | 2014-08-27 | 2014-12-10 | 深圳科瑞技术股份有限公司 | 一种基于scara机械手的运动轨迹规划方法及系统 |
CN105656592A (zh) * | 2015-12-31 | 2016-06-08 | 深圳市汇川技术股份有限公司 | EtherCAT通信系统主站及通信方法 |
CN107431611A (zh) * | 2015-03-19 | 2017-12-01 | 三菱电机株式会社 | 通信装置及网络系统 |
CN107544441A (zh) * | 2016-06-27 | 2018-01-05 | 发那科株式会社 | 动态地切换加减速滤波的时间常数的数值控制装置 |
US20180015303A1 (en) * | 2016-07-13 | 2018-01-18 | Sensus Healthcare Llc | Robotic Intraoperative Radiation Therapy |
CN109032081A (zh) * | 2018-08-10 | 2018-12-18 | 山东易码智能科技股份有限公司 | 基于s曲线加减速的多轴机器人点位同步控制方法及系统 |
CN109361330A (zh) * | 2018-10-18 | 2019-02-19 | 东莞市旭展自动化科技有限公司 | 一种基于总线的伺服电机同步控制方法 |
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2019
- 2019-06-21 CN CN201910543441.9A patent/CN110253578B/zh not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103970139A (zh) * | 2014-05-09 | 2014-08-06 | 上海交通大学 | 一种机器人连续点位运动规划方法及其运动控制器 |
CN104191428A (zh) * | 2014-08-27 | 2014-12-10 | 深圳科瑞技术股份有限公司 | 一种基于scara机械手的运动轨迹规划方法及系统 |
CN107431611A (zh) * | 2015-03-19 | 2017-12-01 | 三菱电机株式会社 | 通信装置及网络系统 |
CN105656592A (zh) * | 2015-12-31 | 2016-06-08 | 深圳市汇川技术股份有限公司 | EtherCAT通信系统主站及通信方法 |
CN107544441A (zh) * | 2016-06-27 | 2018-01-05 | 发那科株式会社 | 动态地切换加减速滤波的时间常数的数值控制装置 |
US20180015303A1 (en) * | 2016-07-13 | 2018-01-18 | Sensus Healthcare Llc | Robotic Intraoperative Radiation Therapy |
CN109789315A (zh) * | 2016-07-13 | 2019-05-21 | 胜赛斯医疗有限责任公司 | 机器人术中放疗 |
CN109032081A (zh) * | 2018-08-10 | 2018-12-18 | 山东易码智能科技股份有限公司 | 基于s曲线加减速的多轴机器人点位同步控制方法及系统 |
CN109361330A (zh) * | 2018-10-18 | 2019-02-19 | 东莞市旭展自动化科技有限公司 | 一种基于总线的伺服电机同步控制方法 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111496798A (zh) * | 2020-05-18 | 2020-08-07 | 北京配天技术有限公司 | 机器人传送带跟踪方法、设备及存储装置 |
CN114227655A (zh) * | 2021-12-30 | 2022-03-25 | 深圳市英威腾电气股份有限公司 | 确定规划路径的方法、装置、scara机器人及介质 |
CN114227655B (zh) * | 2021-12-30 | 2024-06-04 | 深圳市英威腾电气股份有限公司 | 确定规划路径的方法、装置、scara机器人及介质 |
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Inventor after: Chen Ping Inventor after: Liu Songbin Inventor after: Guo Shaozhi Inventor after: Cai Shuting Inventor after: Lin Qiujie Inventor after: Yu Zihao Inventor after: Xing Duo Inventor before: Guo Shaozhi Inventor before: Chen Ping Inventor before: Liu Songbin Inventor before: Cai Shuting Inventor before: Lin Qiujie Inventor before: Yu Zihao Inventor before: Xing Duo |
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Granted publication date: 20210813 |