CN112936286A - 一种多柔性机械臂系统自适应一致性追踪控制方法及系统 - Google Patents
一种多柔性机械臂系统自适应一致性追踪控制方法及系统 Download PDFInfo
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- CN112936286A CN112936286A CN202110271297.5A CN202110271297A CN112936286A CN 112936286 A CN112936286 A CN 112936286A CN 202110271297 A CN202110271297 A CN 202110271297A CN 112936286 A CN112936286 A CN 112936286A
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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
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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
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Cited By (3)
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---|---|---|---|---|
CN113942010A (zh) * | 2021-08-30 | 2022-01-18 | 济宁学院 | 一种多工位机械臂双边位姿定位的自适应力矩控制方法 |
CN114706359A (zh) * | 2022-06-06 | 2022-07-05 | 齐鲁工业大学 | 基于采样数据的农用多智能体系统一致性分布式控制方法 |
CN116690561A (zh) * | 2023-05-30 | 2023-09-05 | 渤海大学 | 一种用于单连杆机械臂的自适应最优反步控制方法及系统 |
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US20140257569A1 (en) * | 2013-03-11 | 2014-09-11 | Board Of Trustees Of The Leland Stanford Junior University | Model-less control for flexible manipulators |
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CN112338913A (zh) * | 2020-10-27 | 2021-02-09 | 四川大学 | 一种多关节柔性机械臂的轨迹跟踪控制方法及系统 |
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2021
- 2021-03-13 CN CN202110271297.5A patent/CN112936286B/zh active Active
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US20140257569A1 (en) * | 2013-03-11 | 2014-09-11 | Board Of Trustees Of The Leland Stanford Junior University | Model-less control for flexible manipulators |
CN108549235A (zh) * | 2018-05-14 | 2018-09-18 | 西北工业大学 | 一种电机驱动单连杆机械手的有限时神经网络控制方法 |
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CN111496796A (zh) * | 2020-05-08 | 2020-08-07 | 哈尔滨工业大学 | 基于指令滤波器的机械臂轨迹跟踪控制方法及装置 |
CN111604908A (zh) * | 2020-06-04 | 2020-09-01 | 云南电网有限责任公司电力科学研究院 | 一种架空线路检修机器人机械臂的力位混合控制方法 |
CN112338913A (zh) * | 2020-10-27 | 2021-02-09 | 四川大学 | 一种多关节柔性机械臂的轨迹跟踪控制方法及系统 |
Non-Patent Citations (2)
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LIU L, LI B, GUO R: "Consensus Control for Networked Manipulators With Switched Parameters and Topologies", 《IEEE ACCESS》 * |
李建: "多柔性机器臂系统一致性控制研究", 《中国硕士学位论文全文数据库》 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113942010A (zh) * | 2021-08-30 | 2022-01-18 | 济宁学院 | 一种多工位机械臂双边位姿定位的自适应力矩控制方法 |
CN114706359A (zh) * | 2022-06-06 | 2022-07-05 | 齐鲁工业大学 | 基于采样数据的农用多智能体系统一致性分布式控制方法 |
CN116690561A (zh) * | 2023-05-30 | 2023-09-05 | 渤海大学 | 一种用于单连杆机械臂的自适应最优反步控制方法及系统 |
CN116690561B (zh) * | 2023-05-30 | 2024-01-23 | 渤海大学 | 一种用于单连杆机械臂的自适应最优反步控制方法及系统 |
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Effective date of registration: 20221221 Address after: Room 3115, No. 135, Ward Avenue, Ping'an Street, Changqing District, Jinan, Shandong 250300 Patentee after: Shandong Jiqing Technology Service Co.,Ltd. Address before: 250353 University Road, Changqing District, Ji'nan, Shandong Province, No. 3501 Patentee before: Qilu University of Technology |
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Denomination of invention: A self-adaptive consistency tracking control method and system for multi flexible robotic arm systems Effective date of registration: 20231122 Granted publication date: 20220426 Pledgee: Qilu bank Limited by Share Ltd. Ji'nan Changqing branch Pledgor: Shandong Jiqing Technology Service Co.,Ltd. Registration number: Y2023980067041 |
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