CN113696190B - 一种示教轨迹点采集方法、装置、机械臂、系统及介质 - Google Patents
一种示教轨迹点采集方法、装置、机械臂、系统及介质 Download PDFInfo
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- CN113696190B CN113696190B CN202111263269.5A CN202111263269A CN113696190B CN 113696190 B CN113696190 B CN 113696190B CN 202111263269 A CN202111263269 A CN 202111263269A CN 113696190 B CN113696190 B CN 113696190B
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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
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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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CN202111263269.5A CN113696190B (zh) | 2021-10-28 | 2021-10-28 | 一种示教轨迹点采集方法、装置、机械臂、系统及介质 |
PCT/CN2022/114889 WO2023071481A1 (zh) | 2021-10-28 | 2022-08-25 | 一种示教轨迹点采集方法、装置、机械臂、系统及介质 |
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CN202111263269.5A CN113696190B (zh) | 2021-10-28 | 2021-10-28 | 一种示教轨迹点采集方法、装置、机械臂、系统及介质 |
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CN113696190A CN113696190A (zh) | 2021-11-26 |
CN113696190B true CN113696190B (zh) | 2022-03-18 |
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Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
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CN113696190B (zh) * | 2021-10-28 | 2022-03-18 | 深圳市越疆科技有限公司 | 一种示教轨迹点采集方法、装置、机械臂、系统及介质 |
CN114543669B (zh) * | 2022-01-27 | 2023-08-01 | 珠海亿智电子科技有限公司 | 机械臂校准方法、装置、设备及存储介质 |
CN114619233B (zh) * | 2022-03-17 | 2023-08-08 | 深圳市华成工业控制股份有限公司 | 锁付定位方法、螺丝锁付方法、锁付定位装置及螺丝机 |
CN115406676A (zh) * | 2022-10-31 | 2022-11-29 | 成都盛锴科技有限公司 | 一种转向架检测系统及方法 |
CN116372889A (zh) * | 2022-11-03 | 2023-07-04 | 深圳市越疆科技股份有限公司 | 示教轨迹处理方法、装置、机械臂、示教控制器及系统 |
CN115781635A (zh) * | 2022-11-04 | 2023-03-14 | 北京镁伽机器人科技有限公司 | 机器人示教方法以及装置、电子设备以及存储介质 |
CN116222384B (zh) * | 2023-05-08 | 2023-08-04 | 成都飞机工业(集团)有限责任公司 | 一种全向测量标定方法、系统、设备及介质 |
CN116423526B (zh) * | 2023-06-12 | 2023-09-19 | 上海仙工智能科技有限公司 | 一种机械臂工具坐标的自动标定方法及系统、存储介质 |
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CN104476552B (zh) * | 2014-10-30 | 2016-08-24 | 佛山金皇宇机械实业有限公司 | 一种基于机器视觉的机器人型材搬运装置的搬运方法 |
CN108213776B (zh) * | 2016-12-15 | 2019-07-05 | 中国科学院沈阳自动化研究所 | 一种非接触式机器人激光焊接示教方法 |
CN107756408B (zh) * | 2017-11-22 | 2020-10-23 | 浙江优迈德智能装备有限公司 | 一种基于主动红外双目视觉的机器人轨迹示教装置及方法 |
KR102109697B1 (ko) * | 2017-12-12 | 2020-05-13 | 한국로봇융합연구원 | 시각 정보와 촉각 정보를 함께 이용하여 객체를 파지하는 로봇 핸드 및 그 제어방법 |
CN110298878B (zh) * | 2018-03-21 | 2021-03-12 | 北京猎户星空科技有限公司 | 一种目标物体三维位姿的确定方法、装置及电子设备 |
JP6836571B2 (ja) * | 2018-11-14 | 2021-03-03 | ファナック株式会社 | ロボット装置 |
CN110039523A (zh) * | 2019-05-20 | 2019-07-23 | 北京无远弗届科技有限公司 | 一种工业机器人视觉伺服系统、伺服方法及装置 |
CN110465946B (zh) * | 2019-08-19 | 2021-04-30 | 珞石(北京)科技有限公司 | 一种像素坐标与机器人坐标关系标定方法 |
CN113296395A (zh) * | 2021-05-14 | 2021-08-24 | 珞石(山东)智能科技有限公司 | 一种特定平面内的机器人手眼标定方法 |
CN113524157A (zh) * | 2021-06-30 | 2021-10-22 | 深圳市越疆科技有限公司 | 配置临摹功能的机器人系统、方法、机械臂和存储介质 |
CN113696190B (zh) * | 2021-10-28 | 2022-03-18 | 深圳市越疆科技有限公司 | 一种示教轨迹点采集方法、装置、机械臂、系统及介质 |
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2021
- 2021-10-28 CN CN202111263269.5A patent/CN113696190B/zh active Active
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Inventor after: Xie Junjie Inventor after: Jiang Yu Inventor after: Lang Xulin Inventor after: Liu Zhufu Inventor after: Liu Peichao Inventor after: Li Wenzhi Inventor after: Cai Tongbiao Inventor before: Li Wenzhi Inventor before: Xie Junjie Inventor before: Lang Xulin Inventor before: Cai Tongbiao Inventor before: Liu Zhufu Inventor before: Jiang Yu Inventor before: Liu Peichao |