CN113146610A - 基于零空间避障的机械臂末端轨迹跟踪算法 - Google Patents
基于零空间避障的机械臂末端轨迹跟踪算法 Download PDFInfo
- Publication number
- CN113146610A CN113146610A CN202011446523.0A CN202011446523A CN113146610A CN 113146610 A CN113146610 A CN 113146610A CN 202011446523 A CN202011446523 A CN 202011446523A CN 113146610 A CN113146610 A CN 113146610A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- tail end
- obstacle avoidance
- zero
- tracking algorithm
- 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
Links
Images
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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011446523.0A CN113146610B (zh) | 2020-12-08 | 2020-12-08 | 基于零空间避障的机械臂末端轨迹跟踪算法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011446523.0A CN113146610B (zh) | 2020-12-08 | 2020-12-08 | 基于零空间避障的机械臂末端轨迹跟踪算法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113146610A true CN113146610A (zh) | 2021-07-23 |
CN113146610B CN113146610B (zh) | 2022-04-19 |
Family
ID=76882538
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011446523.0A Active CN113146610B (zh) | 2020-12-08 | 2020-12-08 | 基于零空间避障的机械臂末端轨迹跟踪算法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113146610B (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114083519A (zh) * | 2021-12-31 | 2022-02-25 | 北京敏锐达致机器人科技有限责任公司 | 机器人零空间拖动示教方法及示教装置 |
CN114211502A (zh) * | 2021-12-31 | 2022-03-22 | 北京敏锐达致机器人科技有限责任公司 | 机器人负载识别方法及识别装置 |
TWI764820B (zh) * | 2021-08-27 | 2022-05-11 | 正崴精密工業股份有限公司 | 機械手臂避障方法及機械手臂避障系統 |
CN114571469A (zh) * | 2022-05-05 | 2022-06-03 | 北京科技大学 | 一种机械臂零空间实时避障控制方法及系统 |
CN115026816A (zh) * | 2022-06-09 | 2022-09-09 | 安徽工业大学 | 一种基于虚拟力的机械臂末端避障方法 |
CN117260003A (zh) * | 2023-11-21 | 2023-12-22 | 北京北汽李尔汽车系统有限公司 | 一种汽车座椅骨架自动摆件打钢刻码方法及系统 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011161624A (ja) * | 2010-01-12 | 2011-08-25 | Honda Motor Co Ltd | 軌道計画方法、軌道計画システム及びロボット |
CN108908331A (zh) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学(深圳) | 超冗余柔性机器人的避障方法及系统、计算机存储介质 |
US20190184560A1 (en) * | 2017-01-19 | 2019-06-20 | Beijing University Of Technology | A Trajectory Planning Method For Six Degree-of-Freedom Robots Taking Into Account of End Effector Motion Error |
CN110421556A (zh) * | 2019-06-14 | 2019-11-08 | 河北工业大学 | 一种冗余双臂服务机器人实时避碰的轨迹规划方法及平稳运行方法 |
CN110696000A (zh) * | 2019-11-21 | 2020-01-17 | 河北工业大学 | 一种机械臂试探感知的避障方法 |
-
2020
- 2020-12-08 CN CN202011446523.0A patent/CN113146610B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011161624A (ja) * | 2010-01-12 | 2011-08-25 | Honda Motor Co Ltd | 軌道計画方法、軌道計画システム及びロボット |
US20190184560A1 (en) * | 2017-01-19 | 2019-06-20 | Beijing University Of Technology | A Trajectory Planning Method For Six Degree-of-Freedom Robots Taking Into Account of End Effector Motion Error |
CN108908331A (zh) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学(深圳) | 超冗余柔性机器人的避障方法及系统、计算机存储介质 |
CN110421556A (zh) * | 2019-06-14 | 2019-11-08 | 河北工业大学 | 一种冗余双臂服务机器人实时避碰的轨迹规划方法及平稳运行方法 |
CN110696000A (zh) * | 2019-11-21 | 2020-01-17 | 河北工业大学 | 一种机械臂试探感知的避障方法 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI764820B (zh) * | 2021-08-27 | 2022-05-11 | 正崴精密工業股份有限公司 | 機械手臂避障方法及機械手臂避障系統 |
CN114083519A (zh) * | 2021-12-31 | 2022-02-25 | 北京敏锐达致机器人科技有限责任公司 | 机器人零空间拖动示教方法及示教装置 |
CN114211502A (zh) * | 2021-12-31 | 2022-03-22 | 北京敏锐达致机器人科技有限责任公司 | 机器人负载识别方法及识别装置 |
CN114211502B (zh) * | 2021-12-31 | 2023-10-24 | 北京敏锐达致机器人科技有限责任公司 | 机器人负载识别方法及识别装置 |
CN114571469A (zh) * | 2022-05-05 | 2022-06-03 | 北京科技大学 | 一种机械臂零空间实时避障控制方法及系统 |
CN114571469B (zh) * | 2022-05-05 | 2022-07-26 | 北京科技大学 | 一种机械臂零空间实时避障控制方法及系统 |
CN115026816A (zh) * | 2022-06-09 | 2022-09-09 | 安徽工业大学 | 一种基于虚拟力的机械臂末端避障方法 |
CN117260003A (zh) * | 2023-11-21 | 2023-12-22 | 北京北汽李尔汽车系统有限公司 | 一种汽车座椅骨架自动摆件打钢刻码方法及系统 |
CN117260003B (zh) * | 2023-11-21 | 2024-03-19 | 北京北汽李尔汽车系统有限公司 | 一种汽车座椅骨架自动摆件打钢刻码方法及系统 |
Also Published As
Publication number | Publication date |
---|---|
CN113146610B (zh) | 2022-04-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113146610B (zh) | 基于零空间避障的机械臂末端轨迹跟踪算法 | |
CN109848983B (zh) | 一种高顺应性人引导机器人协同作业的方法 | |
CN108908331B (zh) | 超冗余柔性机器人的避障方法及系统、计算机存储介质 | |
CN109571466B (zh) | 一种基于快速随机搜索树的七自由度冗余机械臂动态避障路径规划方法 | |
CN101612734B (zh) | 管道喷涂机器人及其作业轨迹规划方法 | |
Lu et al. | Collision-free and smooth joint motion planning for six-axis industrial robots by redundancy optimization | |
CN108638055B (zh) | 一种七自由度空间机械臂自主避障规划方法 | |
WO2021165745A1 (en) | Collision avoidance motion planning method for industrial robot | |
JP2021160080A (ja) | 距離場による高速ロボット運動の最適化 | |
CN112605996B (zh) | 一种面向冗余机械臂的无模型碰撞避免控制方法 | |
Mu et al. | Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator | |
WO2017132905A1 (zh) | 控制运动系统的方法和装置 | |
CN106844951B (zh) | 基于分段几何法求解超冗余机器人逆运动学的方法及系统 | |
Mu et al. | A hybrid obstacle-avoidance method of spatial hyper-redundant manipulators for servicing in confined space | |
CN115674208B (zh) | 一种机器人振动抑制装置、控制方法及其机器人 | |
CN114589701B (zh) | 一种基于阻尼最小二乘的多关节机械臂避障逆运动学方法 | |
Zhao et al. | Improved manipulator obstacle avoidance path planning based on potential field method | |
Mu et al. | Obstacles modeling and collision detection of space robots for performing on-orbit services | |
Dube et al. | A model of the humanoid body for self collision detection based on elliptical capsules | |
US20230302645A1 (en) | Method of robot dynamic motion planning and control | |
CN116237950A (zh) | 基于分段运动规划策略的机器人末端精确控制方法及设备 | |
US11872704B2 (en) | Dynamic motion planning system | |
Xu et al. | Obstacle avoidance of 7-DOF redundant manipulators | |
CN115026816A (zh) | 一种基于虚拟力的机械臂末端避障方法 | |
Majarena et al. | Spatial resolution-based kinematic design of a parallel positioning platform |
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 | ||
CB03 | Change of inventor or designer information |
Inventor after: Xu Xiangrong Inventor after: Liu Xuefei Inventor after: Zhu Zuojun Inventor after: Jiang Yanglin Inventor after: Zhou Pan Inventor after: Zhu Yongfei Inventor before: Liu Xuefei Inventor before: Xu Xiangrong Inventor before: Zhu Zuojun Inventor before: Jiang Yanglin Inventor before: Zhou Pan Inventor before: Zhu Yongfei |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant |