CN110799911A - 一种机器人运动控制的方法、运动控制装置及机器人系统 - Google Patents

一种机器人运动控制的方法、运动控制装置及机器人系统 Download PDF

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CN110799911A
CN110799911A CN201780092635.0A CN201780092635A CN110799911A CN 110799911 A CN110799911 A CN 110799911A CN 201780092635 A CN201780092635 A CN 201780092635A CN 110799911 A CN110799911 A CN 110799911A
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control loop
robot
parameter
parameters
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CN110799911B (zh
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郭涛
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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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

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Abstract

一种机器人运动控制的方法、运动控制装置(810)及机器人系统，用于提高机器人和外部传送带之间的同步精度，使机器人更准确地抓取外部传送带上的物体。该方法应用于运动控制装置(810)，运动控制装置(810)包含有控制环和运动仿真模型，该方法包括：通过控制环获取传送带的实际运动参数，并根据实际运动参数和机器人上轮周期的第一运动参数生成模拟运动参数(201)，第一运动参数由运动仿真模型生成并反馈，控制环用于接收运动仿真模型的反馈；通过运动仿真模型根据模拟运动参数生成机器人本轮周期的第二运动参数，并向控制环反馈第二运动参数(202)；将第二运动参数传输至机器人的驱动设备(203)。

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PCT国内申请，说明书已公开。

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  1. PCT国内申请，权利要求书已公开。
CN201780092635.0A 2017-08-04 2017-08-04 一种机器人运动控制的方法、运动控制装置及机器人系统 Active CN110799911B (zh)

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Citations (4)

* Cited by examiner, † Cited by third party
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US20060042914A1 (en) * 2002-10-28 2006-03-02 Gerhard Wiedemann System and method for machining body parts, wherein robots are synchronised with a conveyor belt
CN103342140A (zh) * 2013-06-07 2013-10-09 上海发那科机器人有限公司 一种用于机器人的随行跟踪系统
CN104108579A (zh) * 2014-07-15 2014-10-22 上海发那科机器人有限公司 一种使用视觉系统对直线传送带上工件定位的装置和方法
CN106597842A (zh) * 2015-10-20 2017-04-26 沈阳新松机器人自动化股份有限公司 一种机器人的快速转向的控制方法及系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9498401B2 (en) * 2011-12-20 2016-11-22 Massachusetts Institute Of Technology Robotic system for simulating a wearable device and method of use
CN106597843B (zh) * 2015-10-20 2019-08-09 沈阳新松机器人自动化股份有限公司 一种前驱动轮式机器人安全控制方法及系统
CN106597844B (zh) * 2015-10-20 2020-01-17 沈阳新松机器人自动化股份有限公司 一种机器人防摔倒控制方法及系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060042914A1 (en) * 2002-10-28 2006-03-02 Gerhard Wiedemann System and method for machining body parts, wherein robots are synchronised with a conveyor belt
CN103342140A (zh) * 2013-06-07 2013-10-09 上海发那科机器人有限公司 一种用于机器人的随行跟踪系统
CN104108579A (zh) * 2014-07-15 2014-10-22 上海发那科机器人有限公司 一种使用视觉系统对直线传送带上工件定位的装置和方法
CN106597842A (zh) * 2015-10-20 2017-04-26 沈阳新松机器人自动化股份有限公司 一种机器人的快速转向的控制方法及系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
王铮等: "面向传送带作业系统的机器人目标跟踪与抓取策略研究", 《计算机测量与控制》 *

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WO2019024071A1 (zh) 2019-02-07

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