CN116175594A - 一种机器人的机械臂控制方法、设备及机器人 - Google Patents
一种机器人的机械臂控制方法、设备及机器人 Download PDFInfo
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- CN116175594A CN116175594A CN202310456932.6A CN202310456932A CN116175594A CN 116175594 A CN116175594 A CN 116175594A CN 202310456932 A CN202310456932 A CN 202310456932A CN 116175594 A CN116175594 A CN 116175594A
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- 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
-
- 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
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
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CN202310456932.6A CN116175594B (zh) | 2023-04-26 | 2023-04-26 | 一种机器人的机械臂控制方法、设备及机器人 |
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CN202310456932.6A CN116175594B (zh) | 2023-04-26 | 2023-04-26 | 一种机器人的机械臂控制方法、设备及机器人 |
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CN116175594A true CN116175594A (zh) | 2023-05-30 |
CN116175594B CN116175594B (zh) | 2023-06-30 |
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Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107009368A (zh) * | 2017-03-30 | 2017-08-04 | 东南大学 | 基于力传感器的机器人打磨作业控制系统及其控制方法 |
US10016900B1 (en) * | 2017-10-10 | 2018-07-10 | Auris Health, Inc. | Surgical robotic arm admittance control |
GB202004751D0 (en) * | 2020-03-31 | 2020-05-13 | Cmr Surgical Ltd | Control system of a surgical robot |
CN111805538A (zh) * | 2020-06-18 | 2020-10-23 | 北京卫星制造厂有限公司 | 一种基于力反馈的机器人实时运动规划方法 |
CN113799134A (zh) * | 2021-09-27 | 2021-12-17 | 深圳市优必选科技股份有限公司 | 机器人控制方法、装置、机器人和可读存储介质 |
CN114800532A (zh) * | 2022-06-27 | 2022-07-29 | 西南交通大学 | 机械臂控制参数确定方法、装置、设备、介质和机器人 |
CN115179279A (zh) * | 2022-06-21 | 2022-10-14 | 深圳瀚维智能医疗科技有限公司 | 机械臂的控制方法、装置、机械臂以及可读存储介质 |
-
2023
- 2023-04-26 CN CN202310456932.6A patent/CN116175594B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107009368A (zh) * | 2017-03-30 | 2017-08-04 | 东南大学 | 基于力传感器的机器人打磨作业控制系统及其控制方法 |
US10016900B1 (en) * | 2017-10-10 | 2018-07-10 | Auris Health, Inc. | Surgical robotic arm admittance control |
GB202004751D0 (en) * | 2020-03-31 | 2020-05-13 | Cmr Surgical Ltd | Control system of a surgical robot |
CN111805538A (zh) * | 2020-06-18 | 2020-10-23 | 北京卫星制造厂有限公司 | 一种基于力反馈的机器人实时运动规划方法 |
CN113799134A (zh) * | 2021-09-27 | 2021-12-17 | 深圳市优必选科技股份有限公司 | 机器人控制方法、装置、机器人和可读存储介质 |
CN115179279A (zh) * | 2022-06-21 | 2022-10-14 | 深圳瀚维智能医疗科技有限公司 | 机械臂的控制方法、装置、机械臂以及可读存储介质 |
CN114800532A (zh) * | 2022-06-27 | 2022-07-29 | 西南交通大学 | 机械臂控制参数确定方法、装置、设备、介质和机器人 |
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