CN111656297A - 机器人的运动控制方法、机器人及机器人运动控制系统 - Google Patents

机器人的运动控制方法、机器人及机器人运动控制系统 Download PDF

Info

Publication number
CN111656297A
CN111656297A CN201880087094.7A CN201880087094A CN111656297A CN 111656297 A CN111656297 A CN 111656297A CN 201880087094 A CN201880087094 A CN 201880087094A CN 111656297 A CN111656297 A CN 111656297A
Authority
CN
China
Prior art keywords
initial
coordinate system
time
robot
trajectory
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.)
Granted
Application number
CN201880087094.7A
Other languages
English (en)
Other versions
CN111656297B (zh
Inventor
张松鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen A&E Intelligent Technology Institute Co Ltd
Original Assignee
Shenzhen A&E Intelligent Technology Institute Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen A&E Intelligent Technology Institute Co Ltd filed Critical Shenzhen A&E Intelligent Technology Institute Co Ltd
Publication of CN111656297A publication Critical patent/CN111656297A/zh
Application granted granted Critical
Publication of CN111656297B publication Critical patent/CN111656297B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

本申请公开了一种机器人的运动控制方法、机器人及机器人运动控制系统，该方法包括：获取机器人所参考的坐标系从第一参考坐标系转换为第二参考坐标系时，机器人的工具坐标系相对于第二参考坐标系的初始参数；根据该初始参数以及在转换完成后机器人的工具坐标系相对于第二参考坐标系的目标参数，规划工具坐标系相对于第二参考坐标系的偏移轨迹；控制机器人的工具坐标系沿偏移轨迹运动。通过上述方式，本申请能够在机器人所参考的坐标系转换时不产生速度突变，避免对机器人造成损坏。

Description

PCT国内申请，说明书已公开。

Claims (21)

  1. PCT国内申请，权利要求书已公开。
CN201880087094.7A 2018-07-13 2018-07-13 机器人的运动控制方法、机器人及机器人运动控制系统 Active CN111656297B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/095676 WO2020010626A1 (zh) 2018-07-13 2018-07-13 机器人的运动控制方法、机器人及机器人运动控制系统

Publications (2)

Publication Number Publication Date
CN111656297A true CN111656297A (zh) 2020-09-11
CN111656297B CN111656297B (zh) 2023-08-15

Family

ID=69143184

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880087094.7A Active CN111656297B (zh) 2018-07-13 2018-07-13 机器人的运动控制方法、机器人及机器人运动控制系统

Country Status (2)

Country Link
CN (1) CN111656297B (zh)
WO (1) WO2020010626A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113442139A (zh) * 2021-06-29 2021-09-28 山东新一代信息产业技术研究院有限公司 基于ros操作系统的机器人速度控制方法及装置
CN113537606A (zh) * 2021-07-22 2021-10-22 上汽通用五菱汽车股份有限公司 事故预测方法、装置及计算机可读存储介质

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111881411B (zh) * 2020-07-10 2024-02-06 广联达科技股份有限公司 机械节点位置的确定方法及确定装置
CN113777913B (zh) * 2021-09-02 2023-12-08 盐城中科高通量计算研究院有限公司 一种基于改进极限学习机的巡逻车高精度循迹方法
CN115082518B (zh) * 2022-05-30 2024-03-26 华南理工大学 视觉伺服的在线轨迹生成系统及其方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2303521A1 (de) * 2008-10-06 2011-04-06 KUKA Roboter GmbH Industrieroboter und bahnplanungsverfahren zum steuern der bewegung eines industrieroboters
CN104238460A (zh) * 2014-08-29 2014-12-24 北京配天技术有限公司 一种工件的协同加工方法、系统及协同控制方法、装置
EP2985122A1 (en) * 2014-07-31 2016-02-17 Siemens Industry Software Ltd. Method and apparatus for saving energy and reducing cycle time by optimal ordering of the industrial robotic path
CN105700530A (zh) * 2016-04-11 2016-06-22 南京埃斯顿自动化股份有限公司 一种机器人关节空间传送带跟随运动的轨迹规划方法
CN106598043A (zh) * 2016-11-08 2017-04-26 中国科学院自动化研究所 面向多个动态目标的并联机器人高速拾取路径优化方法
CN107016209A (zh) * 2017-04-17 2017-08-04 珞石（北京）科技有限公司 一种工业机器人和导轨协同规划方法
CN107272706A (zh) * 2017-08-01 2017-10-20 上海辛格林纳新时达电机有限公司 一种传送带跟踪方法、机器人和计算机可读存储介质
CN107553485A (zh) * 2017-07-13 2018-01-09 西北工业大学 一种人机交互过程中动态虚拟夹具的生成方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2303521A1 (de) * 2008-10-06 2011-04-06 KUKA Roboter GmbH Industrieroboter und bahnplanungsverfahren zum steuern der bewegung eines industrieroboters
EP2985122A1 (en) * 2014-07-31 2016-02-17 Siemens Industry Software Ltd. Method and apparatus for saving energy and reducing cycle time by optimal ordering of the industrial robotic path
CN104238460A (zh) * 2014-08-29 2014-12-24 北京配天技术有限公司 一种工件的协同加工方法、系统及协同控制方法、装置
CN105700530A (zh) * 2016-04-11 2016-06-22 南京埃斯顿自动化股份有限公司 一种机器人关节空间传送带跟随运动的轨迹规划方法
CN106598043A (zh) * 2016-11-08 2017-04-26 中国科学院自动化研究所 面向多个动态目标的并联机器人高速拾取路径优化方法
CN107016209A (zh) * 2017-04-17 2017-08-04 珞石（北京）科技有限公司 一种工业机器人和导轨协同规划方法
CN107553485A (zh) * 2017-07-13 2018-01-09 西北工业大学 一种人机交互过程中动态虚拟夹具的生成方法
CN107272706A (zh) * 2017-08-01 2017-10-20 上海辛格林纳新时达电机有限公司 一种传送带跟踪方法、机器人和计算机可读存储介质

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113442139A (zh) * 2021-06-29 2021-09-28 山东新一代信息产业技术研究院有限公司 基于ros操作系统的机器人速度控制方法及装置
CN113537606A (zh) * 2021-07-22 2021-10-22 上汽通用五菱汽车股份有限公司 事故预测方法、装置及计算机可读存储介质

Also Published As

Publication number Publication date
WO2020010626A1 (zh) 2020-01-16
CN111656297B (zh) 2023-08-15

Similar Documents

Publication Publication Date Title
CN111656297A (zh) 机器人的运动控制方法、机器人及机器人运动控制系统
Park et al. Compliance-based robotic peg-in-hole assembly strategy without force feedback
US10065311B1 (en) Singularity handling for robot jogging
Karavaev et al. Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: Theory and experiments
Li et al. Motion control of an omnidirectional mobile robot
US20230117928A1 (en) Nonlinear trajectory optimization for robotic devices
Roveda et al. Human-robot cooperative interaction control for the installation of heavy and bulky components
Mandava et al. Design of PID controllers for 4-DOF planar and spatial manipulators
Namiki et al. Vision-based predictive assist control on master-slave systems
Romadon et al. Pose estimation on soccer robot using data fusion from encoders, inertial sensor, and image data
Xie et al. Precise and smooth contact force control for a hybrid mobile robot used in polishing
Cao et al. Contact force estimation for serial manipulator based on weighted moving average with variable span and standard Kalman filter with automatic tuning
Prajumkhaiy et al. Sensorless force estimation of SCARA robot system with friction compensation
Utama et al. Positioning and Maneuver of an Omnidirectional Robot Soccer
CN112118940B (zh) 机械手的直接教示装置以及直接教示方法
Conte et al. Autonomous robotic escort incorporating motion prediction and human intention
Berntorp et al. Mobile manipulation with a kinematically redundant manipulator for a pick-and-place scenario
Zhang et al. A markerless human-manipulators interface using multi-sensors
Wang et al. Switching motion control of aircraft skin inspection robot using backstepping scheme and nussbaum disturbance observer
Zha et al. Trajectory coordination planning and control for robot manipulators in automated material handling and processing
Xiao et al. Real-time integration of sensing, planning and control in robotic work-cells
McNinch et al. Application of a coordinated trajectory planning and real-time obstacle avoidance algorithm
Lee et al. Contact-consistent disturbance observer for floating-base robots
Akbar et al. Reduced-order observer based sliding mode control for a quad-rotor helicopter
Chu et al. Study on hybrid position/force teaching and control method for 6 DoF manipulator utilizing f-PAWTED

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