CN113910247B - 考虑关节间隙演化的工业机器人末端轨迹控制方法及系统 - Google Patents
考虑关节间隙演化的工业机器人末端轨迹控制方法及系统 Download PDFInfo
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- CN113910247B CN113910247B CN202111408362.0A CN202111408362A CN113910247B CN 113910247 B CN113910247 B CN 113910247B CN 202111408362 A CN202111408362 A CN 202111408362A CN 113910247 B CN113910247 B CN 113910247B
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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
- B25J9/1602—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
- B25J9/1628—Programme controls characterised by the control loop
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Abstract
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CN202111408362.0A CN113910247B (zh) | 2021-11-19 | 2021-11-19 | 考虑关节间隙演化的工业机器人末端轨迹控制方法及系统 |
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CN202111408362.0A CN113910247B (zh) | 2021-11-19 | 2021-11-19 | 考虑关节间隙演化的工业机器人末端轨迹控制方法及系统 |
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CN113910247B true CN113910247B (zh) | 2023-01-06 |
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CN114888828A (zh) * | 2022-04-26 | 2022-08-12 | 佛山科学技术学院 | 基于蚁群优化的scara机器人实验装置与控制方法 |
CN115256465A (zh) * | 2022-07-29 | 2022-11-01 | 江苏航鼎智能装备有限公司 | 一种消除工业机器人齿轮传动中反向间隙的方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6411944B1 (en) * | 1997-03-21 | 2002-06-25 | Yamaha Hatsudoki Kabushiki Kaisha | Self-organizing control system |
CN1650664A (zh) * | 2002-04-26 | 2005-08-03 | 汤姆森许可公司 | 用于松散耦合互操作的基于证书的认证授权计费方案 |
US7383235B1 (en) * | 2000-03-09 | 2008-06-03 | Stmicroelectronic S.R.L. | Method and hardware architecture for controlling a process or for processing data based on quantum soft computing |
CN111950757A (zh) * | 2019-05-17 | 2020-11-17 | 湖南科技大学 | 旋转机械关键零部件退化状态趋势预测方法 |
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2021
- 2021-11-19 CN CN202111408362.0A patent/CN113910247B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6411944B1 (en) * | 1997-03-21 | 2002-06-25 | Yamaha Hatsudoki Kabushiki Kaisha | Self-organizing control system |
US7383235B1 (en) * | 2000-03-09 | 2008-06-03 | Stmicroelectronic S.R.L. | Method and hardware architecture for controlling a process or for processing data based on quantum soft computing |
CN1650664A (zh) * | 2002-04-26 | 2005-08-03 | 汤姆森许可公司 | 用于松散耦合互操作的基于证书的认证授权计费方案 |
CN111950757A (zh) * | 2019-05-17 | 2020-11-17 | 湖南科技大学 | 旋转机械关键零部件退化状态趋势预测方法 |
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