CN114147720A - 一种多自由度机械臂的逆运动学通用求解方法及装置 - Google Patents
一种多自由度机械臂的逆运动学通用求解方法及装置 Download PDFInfo
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- G—PHYSICS
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- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
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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
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
Description
自由度1 | 自由度2 | 自由度3 | 自由度4 | 自由度5 | 自由度6 | 自由度7 | 自由度8 |
0.5236 | 0.5236 | 0.5236 | 0.5236 | 0.5236 | 0.5236 | 0.5236 | 0.5236 |
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CN114147720A true CN114147720A (zh) | 2022-03-08 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114888815A (zh) * | 2022-07-04 | 2022-08-12 | 北京航空航天大学 | 一种连续体机器人逆运动学求解方法 |
CN115982893A (zh) * | 2023-03-20 | 2023-04-18 | 广东工业大学 | 多自由度机构运动学建模方法、装置、设备和存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108555904A (zh) * | 2018-01-10 | 2018-09-21 | 苏州工业职业技术学院 | 一种表面改性机器人操作性能的优化方法 |
CN110181480A (zh) * | 2019-07-08 | 2019-08-30 | 济南大学 | 一种多关节助老助残轮椅机械臂及其基于旋量理论的运动学建模方法 |
US20200298403A1 (en) * | 2016-03-29 | 2020-09-24 | Cognibotics Ab | Method, constraining device and system for determining geometric properties of a manipulator |
CN111914416A (zh) * | 2020-07-24 | 2020-11-10 | 之江实验室 | 一种高能效轻量化结构双足机器人的逆运动学求解方法 |
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2021
- 2021-12-14 CN CN202111521893.0A patent/CN114147720B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20200298403A1 (en) * | 2016-03-29 | 2020-09-24 | Cognibotics Ab | Method, constraining device and system for determining geometric properties of a manipulator |
CN108555904A (zh) * | 2018-01-10 | 2018-09-21 | 苏州工业职业技术学院 | 一种表面改性机器人操作性能的优化方法 |
CN110181480A (zh) * | 2019-07-08 | 2019-08-30 | 济南大学 | 一种多关节助老助残轮椅机械臂及其基于旋量理论的运动学建模方法 |
CN111914416A (zh) * | 2020-07-24 | 2020-11-10 | 之江实验室 | 一种高能效轻量化结构双足机器人的逆运动学求解方法 |
Non-Patent Citations (1)
Title |
---|
王波: "基于模糊神经网络与旋量理论的6R机械臂运动和动力研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》, no. 7 * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114888815A (zh) * | 2022-07-04 | 2022-08-12 | 北京航空航天大学 | 一种连续体机器人逆运动学求解方法 |
CN115982893A (zh) * | 2023-03-20 | 2023-04-18 | 广东工业大学 | 多自由度机构运动学建模方法、装置、设备和存储介质 |
CN115982893B (zh) * | 2023-03-20 | 2023-07-18 | 广东工业大学 | 多自由度机构运动学建模方法、装置、设备和存储介质 |
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Effective date of registration: 20240611 Address after: Station 61, 2nd Floor, Building 4, Haiju Center, No. 501, 2nd Street, Baiyang Street, Qiantang District, Hangzhou City, Zhejiang Province, 310000 Patentee after: Hangzhou Haixi Technology Co.,Ltd. Country or region after: China Address before: 310051 712, floor 7, building h, Haichuang Park, CLP Haikang Group Co., Ltd., No. 198, aicheng street, Wuchang Street, Yuhang District, Hangzhou, Zhejiang Province Patentee before: Hangzhou Ruiwo Robot Technology Co.,Ltd. Country or region before: China |