CN113924192A - 用于估计机器人操作参数的方法和计算系统 - Google Patents

用于估计机器人操作参数的方法和计算系统 Download PDF

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Publication number
CN113924192A
CN113924192A CN202180002097.8A CN202180002097A CN113924192A CN 113924192 A CN113924192 A CN 113924192A CN 202180002097 A CN202180002097 A CN 202180002097A CN 113924192 A CN113924192 A CN 113924192A
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China
Prior art keywords
arm
movement
arm segment
joint
estimate
Prior art date
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Pending
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CN202180002097.8A
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English (en)
Chinese (zh)
Inventor
A·萨达特德汉
碓井渓
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Mu Jinkeji
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Mu Jinkeji
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Priority to CN202111148035.6A priority Critical patent/CN113771039B/zh
Publication of CN113924192A publication Critical patent/CN113924192A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1638—Program controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1641—Program controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34013—Servocontroller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37373—Friction
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39181—Compensation of coulomb friction in joint

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Computer Hardware Design (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Manufacturing Optical Record Carriers (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
CN202180002097.8A 2020-05-07 2021-05-07 用于估计机器人操作参数的方法和计算系统 Pending CN113924192A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111148035.6A CN113771039B (zh) 2020-05-07 2021-05-07 用于估计机器人操作参数的方法和计算系统

Applications Claiming Priority (5)

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US202063021089P 2020-05-07 2020-05-07
US63/021,089 2020-05-07
US17/243,939 2021-04-29
US17/243,939 US11691285B2 (en) 2020-05-07 2021-04-29 Method and computing system for estimating parameter for robot operation
PCT/JP2021/017442 WO2021225150A1 (en) 2020-05-07 2021-05-07 Method and computing system for estimating parameter for robot operation

Related Child Applications (1)

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CN202111148035.6A Division CN113771039B (zh) 2020-05-07 2021-05-07 用于估计机器人操作参数的方法和计算系统

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Publication Number Publication Date
CN113924192A true CN113924192A (zh) 2022-01-11

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CN202180002096.3A Pending CN113939783A (zh) 2020-05-07 2021-05-07 用于确定指示机器人校准质量的误差参数的值的方法和计算系统

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US (5) US11691285B2 (https=)
JP (4) JP7076756B2 (https=)
CN (2) CN113924192A (https=)
WO (2) WO2021225152A1 (https=)

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US12076866B2 (en) 2024-09-03
US12485539B2 (en) 2025-12-02
JP2022525576A (ja) 2022-05-18
WO2021225152A1 (en) 2021-11-11
US20210347049A1 (en) 2021-11-11
US20210347054A1 (en) 2021-11-11
US20250091208A1 (en) 2025-03-20
US11691285B2 (en) 2023-07-04
JP7723925B2 (ja) 2025-08-15
US20240009843A1 (en) 2024-01-11
US11717966B2 (en) 2023-08-08
JP7076756B2 (ja) 2022-05-30
JP2022118153A (ja) 2022-08-12
JP2022110050A (ja) 2022-07-28
JP2022525577A (ja) 2022-05-18
US20230405817A1 (en) 2023-12-21
CN113939783A (zh) 2022-01-14
JP7098124B2 (ja) 2022-07-11
WO2021225150A1 (en) 2021-11-11

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