CN113211447B - 一种基于双向rrt*算法的机械臂实时感知规划方法及系统 - Google Patents
一种基于双向rrt*算法的机械臂实时感知规划方法及系统 Download PDFInfo
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- CN113211447B CN113211447B CN202110585074.6A CN202110585074A CN113211447B CN 113211447 B CN113211447 B CN 113211447B CN 202110585074 A CN202110585074 A CN 202110585074A CN 113211447 B CN113211447 B CN 113211447B
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- 238000000034 method Methods 0.000 title claims abstract description 34
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- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 21
- 230000008447 perception Effects 0.000 title claims description 13
- 238000004364 calculation method Methods 0.000 claims abstract description 18
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 6
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- 238000011161 development Methods 0.000 description 2
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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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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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
- B25J9/1656—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
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Automation & Control Theory (AREA)
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CN113616338B (zh) * | 2021-09-15 | 2023-10-20 | 上海微创医疗机器人(集团)股份有限公司 | 计算机可读存储介质、对准方法及系统、手术机器人系统 |
CN114083533B (zh) * | 2021-11-09 | 2024-04-09 | 广州富港生活智能科技有限公司 | 一种基于机械臂的数据处理方法及装置 |
CN114952870B (zh) * | 2022-07-29 | 2023-09-29 | 山东亚历山大智能科技有限公司 | 用于高频接触物体消毒的四轴机械臂运动控制方法及系统 |
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