CN113799120A - 冗余自由度机械臂的路径规划方法、装置及工程机械 - Google Patents
冗余自由度机械臂的路径规划方法、装置及工程机械 Download PDFInfo
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- CN113799120A CN113799120A CN202110864557.XA CN202110864557A CN113799120A CN 113799120 A CN113799120 A CN 113799120A CN 202110864557 A CN202110864557 A CN 202110864557A CN 113799120 A CN113799120 A CN 113799120A
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- 238000004422 calculation algorithm Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 13
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- 238000010845 search algorithm Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 description 9
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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
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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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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114378834A (zh) * | 2022-03-23 | 2022-04-22 | 季华实验室 | 机械臂避障路径规划方法、装置、电子设备及存储介质 |
CN114851211A (zh) * | 2022-07-07 | 2022-08-05 | 国网瑞嘉(天津)智能机器人有限公司 | 臂架轨迹的规划方法、装置、服务器及存储介质 |
CN116652956A (zh) * | 2023-06-20 | 2023-08-29 | 上海微亿智造科技有限公司 | 一种用于外观检测的拍照路径自适应规划方法及装置 |
CN117484508A (zh) * | 2023-12-11 | 2024-02-02 | 嘉兴布鲁艾诺机器人有限公司 | 一种上下料用多关节机器人的智能控制系统及方法 |
Citations (5)
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CN107953334A (zh) * | 2017-12-25 | 2018-04-24 | 深圳禾思众成科技有限公司 | 一种基于a星算法的工业机械臂无碰撞路径规划方法 |
CN108638055A (zh) * | 2018-04-11 | 2018-10-12 | 北京控制工程研究所 | 一种七自由度空间机械臂自主避障规划方法 |
CN109278045A (zh) * | 2018-09-14 | 2019-01-29 | 湖南希法工程机械有限公司 | 臂架防碰撞系统及方法 |
CN112091979A (zh) * | 2020-10-10 | 2020-12-18 | 哈尔滨工业大学 | 一种基于位置级逆运动学的七自由度机械臂限位优化方法 |
CN112975951A (zh) * | 2019-12-13 | 2021-06-18 | 医达科技公司 | 用于具有障碍物规避的机器人路径规划的快速方法 |
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2021
- 2021-07-29 CN CN202110864557.XA patent/CN113799120B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107953334A (zh) * | 2017-12-25 | 2018-04-24 | 深圳禾思众成科技有限公司 | 一种基于a星算法的工业机械臂无碰撞路径规划方法 |
CN108638055A (zh) * | 2018-04-11 | 2018-10-12 | 北京控制工程研究所 | 一种七自由度空间机械臂自主避障规划方法 |
CN109278045A (zh) * | 2018-09-14 | 2019-01-29 | 湖南希法工程机械有限公司 | 臂架防碰撞系统及方法 |
CN112975951A (zh) * | 2019-12-13 | 2021-06-18 | 医达科技公司 | 用于具有障碍物规避的机器人路径规划的快速方法 |
CN112091979A (zh) * | 2020-10-10 | 2020-12-18 | 哈尔滨工业大学 | 一种基于位置级逆运动学的七自由度机械臂限位优化方法 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114378834A (zh) * | 2022-03-23 | 2022-04-22 | 季华实验室 | 机械臂避障路径规划方法、装置、电子设备及存储介质 |
CN114378834B (zh) * | 2022-03-23 | 2022-06-17 | 季华实验室 | 机械臂避障路径规划方法、装置、电子设备及存储介质 |
CN114851211A (zh) * | 2022-07-07 | 2022-08-05 | 国网瑞嘉(天津)智能机器人有限公司 | 臂架轨迹的规划方法、装置、服务器及存储介质 |
CN114851211B (zh) * | 2022-07-07 | 2022-09-23 | 国网瑞嘉(天津)智能机器人有限公司 | 臂架轨迹的规划方法、装置、服务器及存储介质 |
CN116652956A (zh) * | 2023-06-20 | 2023-08-29 | 上海微亿智造科技有限公司 | 一种用于外观检测的拍照路径自适应规划方法及装置 |
CN116652956B (zh) * | 2023-06-20 | 2024-03-22 | 上海微亿智造科技有限公司 | 一种用于外观检测的拍照路径自适应规划方法及装置 |
CN117484508A (zh) * | 2023-12-11 | 2024-02-02 | 嘉兴布鲁艾诺机器人有限公司 | 一种上下料用多关节机器人的智能控制系统及方法 |
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Application publication date: 20211217 Assignee: Zoomlion Yuanjiang Branch Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042766 Denomination of invention: Path planning method, device, and engineering machinery for redundant degree of freedom robotic arms Granted publication date: 20221101 License type: Common License Record date: 20231008 Application publication date: 20211217 Assignee: HUNAN ZOOMLION CONCRETE MACHINERY STATION EQUIPMENT CO.,LTD. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042761 Denomination of invention: Path planning method, device, and engineering machinery for redundant degree of freedom robotic arms Granted publication date: 20221101 License type: Common License Record date: 20231010 Application publication date: 20211217 Assignee: Shaanxi Zhonglian Western earthwork Machinery Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042754 Denomination of invention: Path planning method, device, and engineering machinery for redundant degree of freedom robotic arms Granted publication date: 20221101 License type: Common License Record date: 20231010 Application publication date: 20211217 Assignee: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY DEVELOPMENT Co.,Ltd. WEINAN BRANCH Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042749 Denomination of invention: Path planning method, device, and engineering machinery for redundant degree of freedom robotic arms Granted publication date: 20221101 License type: Common License Record date: 20231008 Application publication date: 20211217 Assignee: Zoomlion Construction Crane Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042704 Denomination of invention: Path planning method, device, and engineering machinery for redundant degree of freedom robotic arms Granted publication date: 20221101 License type: Common License Record date: 20231008 Application publication date: 20211217 Assignee: Zoomlion Concrete Pumping Machinery Branch Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042686 Denomination of invention: Path planning method, device, and engineering machinery for redundant degree of freedom robotic arms Granted publication date: 20221101 License type: Common License Record date: 20231010 |
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Application publication date: 20211217 Assignee: Hunan ZOOMLION Crawler Crane Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044887 Denomination of invention: Path planning method, device, and engineering machinery for redundant degree of freedom robotic arms Granted publication date: 20221101 License type: Common License Record date: 20231030 Application publication date: 20211217 Assignee: Hunan Zoomlion engineering hoisting equipment Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044882 Denomination of invention: Path planning method, device, and engineering machinery for redundant degree of freedom robotic arms Granted publication date: 20221101 License type: Common License Record date: 20231030 Application publication date: 20211217 Assignee: Zoomlion Heavy Industry Science and Technology Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044881 Denomination of invention: Path planning method, device, and engineering machinery for redundant degree of freedom robotic arms Granted publication date: 20221101 License type: Common License Record date: 20231030 |
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