CN113751998A - 一种基于模糊控制的机器人轴孔装配方法 - Google Patents
一种基于模糊控制的机器人轴孔装配方法 Download PDFInfo
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- CN113751998A CN113751998A CN202111032961.7A CN202111032961A CN113751998A CN 113751998 A CN113751998 A CN 113751998A CN 202111032961 A CN202111032961 A CN 202111032961A CN 113751998 A CN113751998 A CN 113751998A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/12—Alignment of parts for insertion into bores
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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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
Abstract
Description
ω | 力变化情况 |
0 | F<sub>(t)</sub>=F<sub>(t-1)</sub> |
-1 | F<sub>(t)</sub>=0 |
1 | F<sub>(t)</sub>=2*F<sub>(t-1)</sub> |
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CN202111032961.7A CN113751998B (zh) | 2021-09-03 | 2021-09-03 | 一种基于模糊控制的机器人轴孔装配方法 |
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CN202111032961.7A CN113751998B (zh) | 2021-09-03 | 2021-09-03 | 一种基于模糊控制的机器人轴孔装配方法 |
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CN113751998A true CN113751998A (zh) | 2021-12-07 |
CN113751998B CN113751998B (zh) | 2022-12-06 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115685872A (zh) * | 2022-09-05 | 2023-02-03 | 大连交通大学 | 一种基于柔顺控制的机器人装配算法 |
CN116619007A (zh) * | 2023-07-24 | 2023-08-22 | 季华实验室 | 一种基于前馈虚拟控制力的插孔方法及其相关设备 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0647687A (ja) * | 1991-08-20 | 1994-02-22 | Matsushita Electric Ind Co Ltd | 力制御ロボットにおける位置制御装置 |
CN106276009A (zh) * | 2016-08-11 | 2017-01-04 | 中国科学院宁波材料技术与工程研究所 | 全向移动搬运机器人 |
CN108799148A (zh) * | 2018-07-17 | 2018-11-13 | 哈尔滨理工大学 | 一种基于自适应模糊控制器的可调心主轴装置 |
CN111752231A (zh) * | 2019-03-28 | 2020-10-09 | 华南理工大学 | 基于自适应力和姿态控制的自动化端子装配方法 |
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2021
- 2021-09-03 CN CN202111032961.7A patent/CN113751998B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0647687A (ja) * | 1991-08-20 | 1994-02-22 | Matsushita Electric Ind Co Ltd | 力制御ロボットにおける位置制御装置 |
CN106276009A (zh) * | 2016-08-11 | 2017-01-04 | 中国科学院宁波材料技术与工程研究所 | 全向移动搬运机器人 |
CN108799148A (zh) * | 2018-07-17 | 2018-11-13 | 哈尔滨理工大学 | 一种基于自适应模糊控制器的可调心主轴装置 |
CN111752231A (zh) * | 2019-03-28 | 2020-10-09 | 华南理工大学 | 基于自适应力和姿态控制的自动化端子装配方法 |
Non-Patent Citations (4)
Title |
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Z. ZHANG: "Robotic Peg-in-Hole Assembly System Based on Vision and Fuzzy Control", 《2021 33RD CHINESE CONTROL AND DECISION CONFERENCE》 * |
Z. ZHANG: "Robotic Peg-in-Hole Assembly System Based on Vision and Fuzzy Control", 《2021 33RD CHINESE CONTROL AND DECISION CONFERENCE》, 24 May 2021 (2021-05-24), pages 5835, XP034032115, DOI: 10.1109/CCDC52312.2021.9602060 * |
薛亚东: "基于力反馈的轴孔柔顺装配策略", 《自动化与仪器仪表》 * |
薛亚东: "基于力反馈的轴孔柔顺装配策略", 《自动化与仪器仪表》, no. 4, 25 April 2021 (2021-04-25), pages 152 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115685872A (zh) * | 2022-09-05 | 2023-02-03 | 大连交通大学 | 一种基于柔顺控制的机器人装配算法 |
CN115685872B (zh) * | 2022-09-05 | 2024-05-14 | 大连交通大学 | 一种基于柔顺控制的机器人装配算法 |
CN116619007A (zh) * | 2023-07-24 | 2023-08-22 | 季华实验室 | 一种基于前馈虚拟控制力的插孔方法及其相关设备 |
CN116619007B (zh) * | 2023-07-24 | 2023-10-20 | 季华实验室 | 一种基于前馈虚拟控制力的插孔方法及其相关设备 |
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Inventor after: Lian Hongyuan Inventor after: Fang Zaojun Inventor after: Xiong Ciyuan Inventor after: Zhang Chi Inventor after: Li Junjie Inventor before: Lian Hongyuan |
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Inventor after: Lian Hongyuan Inventor after: Fang Zaojun Inventor after: Xiong Ciyuan Inventor after: Zhang Chi Inventor after: Li Junjie Inventor before: Lian Hongyuan Inventor before: Fang Zaojun Inventor before: Xiong Ciyuan Inventor before: Zhang Chi Inventor before: Li Junjie |
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