CN114200944B - 移动机器人的末端减速方法及系统 - Google Patents
移动机器人的末端减速方法及系统 Download PDFInfo
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- CN114200944B CN114200944B CN202111521865.9A CN202111521865A CN114200944B CN 114200944 B CN114200944 B CN 114200944B CN 202111521865 A CN202111521865 A CN 202111521865A CN 114200944 B CN114200944 B CN 114200944B
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- deceleration
- mobile robot
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010845 search algorithm Methods 0.000 claims description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
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Priority Applications (1)
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CN202111521865.9A CN114200944B (zh) | 2021-12-13 | 2021-12-13 | 移动机器人的末端减速方法及系统 |
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CN202111521865.9A CN114200944B (zh) | 2021-12-13 | 2021-12-13 | 移动机器人的末端减速方法及系统 |
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CN114200944A CN114200944A (zh) | 2022-03-18 |
CN114200944B true CN114200944B (zh) | 2024-04-09 |
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CN202111521865.9A Active CN114200944B (zh) | 2021-12-13 | 2021-12-13 | 移动机器人的末端减速方法及系统 |
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Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101049889A (zh) * | 2007-05-08 | 2007-10-10 | 上海港机重工有限公司 | 起重装卸设备的作业机构的减速控制方法及装置 |
KR20110111929A (ko) * | 2010-04-06 | 2011-10-12 | 현대엘리베이터주식회사 | 상대속도 및 거리 검출장치를 이용한 싱크로나이즈 알티비 시스템의 제어방법 |
CN106597460A (zh) * | 2016-12-15 | 2017-04-26 | 合肥捷曼信息科技有限公司 | 一种有轨制导车车程时间预测方法 |
CN108227719A (zh) * | 2018-01-31 | 2018-06-29 | 浙江国自机器人技术有限公司 | 一种移动机器人到位精度控制方法、系统、介质及设备 |
CN110412985A (zh) * | 2019-08-09 | 2019-11-05 | 珠海格力智能装备有限公司 | 一种自适应避障方法、机器人和计算机可读存储介质 |
CN113534789A (zh) * | 2021-05-18 | 2021-10-22 | 杭州壹悟科技有限公司 | 移动机器人三次多项式速度曲线实时规划方法及装置 |
-
2021
- 2021-12-13 CN CN202111521865.9A patent/CN114200944B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101049889A (zh) * | 2007-05-08 | 2007-10-10 | 上海港机重工有限公司 | 起重装卸设备的作业机构的减速控制方法及装置 |
KR20110111929A (ko) * | 2010-04-06 | 2011-10-12 | 현대엘리베이터주식회사 | 상대속도 및 거리 검출장치를 이용한 싱크로나이즈 알티비 시스템의 제어방법 |
CN106597460A (zh) * | 2016-12-15 | 2017-04-26 | 合肥捷曼信息科技有限公司 | 一种有轨制导车车程时间预测方法 |
CN108227719A (zh) * | 2018-01-31 | 2018-06-29 | 浙江国自机器人技术有限公司 | 一种移动机器人到位精度控制方法、系统、介质及设备 |
CN110412985A (zh) * | 2019-08-09 | 2019-11-05 | 珠海格力智能装备有限公司 | 一种自适应避障方法、机器人和计算机可读存储介质 |
CN113534789A (zh) * | 2021-05-18 | 2021-10-22 | 杭州壹悟科技有限公司 | 移动机器人三次多项式速度曲线实时规划方法及装置 |
Non-Patent Citations (1)
Title |
---|
受限空间中轮式移动机器人的镇定;邹细勇;金宁;金尚忠;;中国电机工程学报(第21期);全文 * |
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CN114200944A (zh) | 2022-03-18 |
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Country or region after: China Address after: 241000 Office Building, National Industrial Robot Product Quality Supervision and Inspection Center Park, No. 17 Shenzhou Road, Jiujiang Economic and Technological Development Zone, Wuhu City, Anhui Province Applicant after: Hart Robotics Industry Technology Research Institute in the Yangtze River Delta Address before: 241000 office building of national industrial robot product quality supervision and inspection center, No.17 Shenzhou Road, Jiujiang Economic and Technological Development Zone, Wuhu City, Anhui Province Applicant before: Wuhu Robot Industry Technology Research Institute of Harbin Institute of Technology Country or region before: China |
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