CN111618859B - 一种对于静止或低速工况下机械臂高精度力反馈的方法 - Google Patents
一种对于静止或低速工况下机械臂高精度力反馈的方法 Download PDFInfo
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- CN111618859B CN111618859B CN202010494425.8A CN202010494425A CN111618859B CN 111618859 B CN111618859 B CN 111618859B CN 202010494425 A CN202010494425 A CN 202010494425A CN 111618859 B CN111618859 B CN 111618859B
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
关节1-2 | 关节2-3 | 关节3-4 | 关节4-5 | 关节5-6 | 关节6-7 | |
α<sub>x</sub> | π/2 | π/2 | π/2 | π/2 | π/2 | π/2 |
α<sub>y</sub> | π | π | 0 | π | 0 | π |
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CN202010494425.8A CN111618859B (zh) | 2020-06-03 | 2020-06-03 | 一种对于静止或低速工况下机械臂高精度力反馈的方法 |
PCT/CN2020/125842 WO2021243945A1 (zh) | 2020-06-03 | 2020-11-02 | 一种对于静止或低速工况下机械臂高精度力反馈的方法、机械臂辅助的外科手术方法和具有处理器可执行的非易失的程序代码的计算机可读介质 |
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WO (1) | WO2021243945A1 (zh) |
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CN111618859B (zh) * | 2020-06-03 | 2021-04-13 | 杭州键嘉机器人有限公司 | 一种对于静止或低速工况下机械臂高精度力反馈的方法 |
CN113715025A (zh) * | 2021-09-10 | 2021-11-30 | 南京猫眼智能科技有限公司 | 自动拉伸机械手臂控制方法 |
CN114102603B (zh) * | 2021-12-13 | 2023-12-26 | 佗道医疗科技有限公司 | 一种基于笛卡尔空间的零力拖动方法 |
CN114536331B (zh) * | 2022-02-16 | 2023-10-20 | 中国医学科学院北京协和医院 | 基于关联标识确定可形变机械臂的外部受力的方法及机器人系统 |
CN114536330B (zh) * | 2022-02-16 | 2023-10-20 | 中国医学科学院北京协和医院 | 基于多个位姿标识确定可形变机械臂的外部受力的方法及机器人系统 |
CN114536329B (zh) * | 2022-02-16 | 2024-05-17 | 中国医学科学院北京协和医院 | 基于复合标识确定可形变机械臂的外部受力的方法及机器人系统 |
CN114603565B (zh) * | 2022-05-10 | 2022-08-02 | 季华实验室 | 欠驱动机械臂及其控制方法 |
CN115081147B (zh) * | 2022-07-20 | 2022-11-11 | 上海龙慧医疗科技有限公司 | 用于扩展无偏置七轴机械臂末端手术工具瞄准范围的方法 |
CN115284319A (zh) * | 2022-08-22 | 2022-11-04 | 北京航空航天大学 | 一种手控设备控制方法及手控器 |
CN117584137B (zh) * | 2024-01-18 | 2024-03-26 | 浙江大学 | 面向随机工况的液压机械臂带载模型在线修正方法及系统 |
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KR101305819B1 (ko) * | 2012-01-04 | 2013-09-06 | 현대자동차주식회사 | 착용식 로봇의 사용자 조작 의도 토크 추출방법 |
US10065312B1 (en) * | 2015-07-13 | 2018-09-04 | The United States Of America, As Represented By The Secretary Of The Navy | Unscented optimization and control allocation |
KR101575487B1 (ko) * | 2014-06-11 | 2015-12-08 | 현대자동차주식회사 | 로봇의 대상물 무게 및 무게중심 산출시스템 및 그 제어방법 |
CN106483964B (zh) * | 2015-08-31 | 2019-12-31 | 中南大学 | 一种基于接触力观测器的机器人柔顺控制方法 |
CN107028663B (zh) * | 2017-04-18 | 2019-04-12 | 中国科学院重庆绿色智能技术研究院 | 一种主从式手术机器人控制方法 |
CN109202889A (zh) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | 一种柔性多关节机器人电流力控制系统及方法 |
CN107433590B (zh) * | 2017-07-31 | 2020-08-18 | 上海宇航系统工程研究所 | 一种基于机械臂负载质量和传感器零漂在线辨识的重力补偿方法 |
CN107590340A (zh) * | 2017-09-15 | 2018-01-16 | 浙江大学 | 一种机械臂外力估计方法及装置 |
CN109514602B (zh) * | 2018-11-08 | 2020-06-16 | 东南大学 | 一种基于负载自适应辨识的工业机器人力矩补偿控制方法 |
CN111015649B (zh) * | 2019-10-12 | 2020-12-25 | 深圳先进技术研究院 | 一种驱控一体化控制系统 |
CN110716557B (zh) * | 2019-11-18 | 2021-05-11 | 河北工业大学 | 基于先验动力学知识的机器人参数识别及接触力监测方法 |
CN111053613B (zh) * | 2019-12-10 | 2020-10-13 | 联博智能科技有限公司 | 一种运动追踪方法、装置、机械臂及计算机可读存储介质 |
CN111037568B (zh) * | 2019-12-30 | 2023-04-07 | 上海新时达机器人有限公司 | 四轴机器人末端负载辨识方法及模块 |
CN111618859B (zh) * | 2020-06-03 | 2021-04-13 | 杭州键嘉机器人有限公司 | 一种对于静止或低速工况下机械臂高精度力反馈的方法 |
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