CN111683796A - 机械臂和机器人 - Google Patents

机械臂和机器人 Download PDF

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Publication number
CN111683796A
CN111683796A CN202080000958.4A CN202080000958A CN111683796A CN 111683796 A CN111683796 A CN 111683796A CN 202080000958 A CN202080000958 A CN 202080000958A CN 111683796 A CN111683796 A CN 111683796A
Authority
CN
China
Prior art keywords
joints
sensor
freedom
torque
force
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.)
Pending
Application number
CN202080000958.4A
Other languages
English (en)
Chinese (zh)
Inventor
王世全
姜皓
安然
李学森
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.)
Feixi Technology Co ltd
Flexiv Robotics Ltd
Original Assignee
Feixi Technology Co ltd
Flexiv Robotics 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
Priority claimed from US16/558,985 external-priority patent/US20210060793A1/en
Application filed by Feixi Technology Co ltd, Flexiv Robotics Ltd filed Critical Feixi Technology Co ltd
Publication of CN111683796A publication Critical patent/CN111683796A/zh
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202080000958.4A 2019-09-03 2020-04-03 机械臂和机器人 Pending CN111683796A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/558,985 US20210060793A1 (en) 2019-09-03 2019-09-03 Robotic arm and robot
US16/558,985 2019-09-03
PCT/CN2020/083106 WO2021042718A1 (fr) 2019-09-03 2020-04-03 Bras robotique et robot

Publications (1)

Publication Number Publication Date
CN111683796A true CN111683796A (zh) 2020-09-18

Family

ID=72438801

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080000958.4A Pending CN111683796A (zh) 2019-09-03 2020-04-03 机械臂和机器人

Country Status (2)

Country Link
EP (1) EP4010153A4 (fr)
CN (1) CN111683796A (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022180795A1 (fr) * 2021-02-26 2022-09-01 株式会社Fuji Robot
CN117389156A (zh) * 2023-12-09 2024-01-12 中信重工机械股份有限公司 基于摩擦补偿的液压机械臂自适应积分鲁棒控制方法

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001038664A (ja) * 1999-08-04 2001-02-13 Yaskawa Electric Corp ロボットアームのインピーダンス制御装置
CN101909830A (zh) * 2007-12-28 2010-12-08 库卡罗伯特有限公司 机器人和对这种机器人上的力矩进行监测的方法
US20160221193A1 (en) * 2015-01-29 2016-08-04 Canon Kabushiki Kaisha Robot apparatus, method for controlling robot, program, and recording medium
US20160361125A1 (en) * 2015-06-12 2016-12-15 The Johns Hopkins University Cooperatively-controlled surgical robotic system with redundant force sensing
CN107186460A (zh) * 2017-07-10 2017-09-22 上海新时达电气股份有限公司 工业机器人进行轴孔装配的方法及其系统
CN107848122A (zh) * 2015-07-27 2018-03-27 库卡罗伯特有限公司 具有力测量装置的机器人
CN108381532A (zh) * 2018-04-17 2018-08-10 中国科学院宁波材料技术与工程研究所 一种中空走线的多关节机器人
US10239213B1 (en) * 2015-11-24 2019-03-26 X Development Llc Flexure assembly for force/torque sensing
CN109551513A (zh) * 2019-01-28 2019-04-02 河北工业大学 一种多功能高度集成模块化机器人关节
US10274386B2 (en) * 2016-06-20 2019-04-30 X Development Llc Retroreflective multi-axis force torque sensor

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2906672C (fr) * 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Procedes, systemes et dispositifs associes a des systemes chirurgicaux de commande de force
JP6956081B2 (ja) * 2015-11-11 2021-10-27 マコ サージカル コーポレーション ロボットシステム及びロボットシステムをバックドライブする方法
WO2017132696A1 (fr) * 2016-01-28 2017-08-03 Transenterix Surgical, Inc. Estimation de force à l'aide de capteurs de couple/force de manipulateur robotique
WO2018053361A1 (fr) * 2016-09-16 2018-03-22 Verb Surgical Inc. Capteur à degrés de liberté multiples
US11148297B2 (en) * 2017-12-31 2021-10-19 Asensus Surgical Us, Inc. Force based gesture control of a robotic surgical manipulator

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001038664A (ja) * 1999-08-04 2001-02-13 Yaskawa Electric Corp ロボットアームのインピーダンス制御装置
CN101909830A (zh) * 2007-12-28 2010-12-08 库卡罗伯特有限公司 机器人和对这种机器人上的力矩进行监测的方法
US20160221193A1 (en) * 2015-01-29 2016-08-04 Canon Kabushiki Kaisha Robot apparatus, method for controlling robot, program, and recording medium
US20160361125A1 (en) * 2015-06-12 2016-12-15 The Johns Hopkins University Cooperatively-controlled surgical robotic system with redundant force sensing
CN107848122A (zh) * 2015-07-27 2018-03-27 库卡罗伯特有限公司 具有力测量装置的机器人
US10239213B1 (en) * 2015-11-24 2019-03-26 X Development Llc Flexure assembly for force/torque sensing
US10274386B2 (en) * 2016-06-20 2019-04-30 X Development Llc Retroreflective multi-axis force torque sensor
CN107186460A (zh) * 2017-07-10 2017-09-22 上海新时达电气股份有限公司 工业机器人进行轴孔装配的方法及其系统
CN108381532A (zh) * 2018-04-17 2018-08-10 中国科学院宁波材料技术与工程研究所 一种中空走线的多关节机器人
CN109551513A (zh) * 2019-01-28 2019-04-02 河北工业大学 一种多功能高度集成模块化机器人关节

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022180795A1 (fr) * 2021-02-26 2022-09-01 株式会社Fuji Robot
CN117389156A (zh) * 2023-12-09 2024-01-12 中信重工机械股份有限公司 基于摩擦补偿的液压机械臂自适应积分鲁棒控制方法
CN117389156B (zh) * 2023-12-09 2024-03-22 中信重工机械股份有限公司 基于摩擦补偿的液压机械臂自适应积分鲁棒控制方法

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EP4010153A1 (fr) 2022-06-15
EP4010153A4 (fr) 2022-09-28

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