CN116197917B - Self-adaptive maximum acceleration calculation method and device, storage medium and electronic equipment - Google Patents
Self-adaptive maximum acceleration calculation method and device, storage medium and electronic equipment Download PDFInfo
- Publication number
- CN116197917B CN116197917B CN202310473608.5A CN202310473608A CN116197917B CN 116197917 B CN116197917 B CN 116197917B CN 202310473608 A CN202310473608 A CN 202310473608A CN 116197917 B CN116197917 B CN 116197917B
- Authority
- CN
- China
- Prior art keywords
- robot
- maximum acceleration
- joint
- load
- maximum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-adaptive maximum acceleration calculation method, a device, a storage medium and electronic equipment, wherein the self-adaptive maximum acceleration calculation method comprises the following steps: acquiring a robot load parameter; selecting a maximum acceleration calculation mode, and calculating the maximum acceleration of each joint in the current installation posture of the robot in real time; outputting the maximum acceleration of each joint of the robot, and performing track planning; the method provided by the invention can calculate the maximum acceleration of the robot joint in the current state in real time and in a self-adaptive manner according to the current load, the gravity acceleration and other parameters, and the robot joint acceleration is controlled in the calculated maximum acceleration range of the joint in the track planning, so that the vibration problem caused by overlarge acceleration can be solved to a certain extent, the alarm halt caused by overrun of parameter setting is reduced, and the production efficiency is improved.
Description
Technical Field
The present invention relates to the field of robotics, and in particular, to a method and apparatus for adaptive maximum acceleration calculation, a storage medium, and an electronic device.
Background
The robot is an automatic device, has the advantages of high precision, high efficiency, good repeatability and the like, and is widely applied to the fields of industrial production, medical treatment, military and the like. The mechanical arm is taken as an important component of the robot, and the motion control of the mechanical arm has a crucial influence on the performance and the precision of the robot. The maximum acceleration of the mechanical arm is one of important parameters for controlling the movement of the mechanical arm, and the size of the maximum acceleration directly influences the movement speed and the precision of the mechanical arm.
At present, most of the situations require a user to give a maximum acceleration value, and the fact that the maximum acceleration value is too large can lead to damage of a robot joint (including damage of a machine and damage of electronic components), and the fact that the maximum acceleration value is too small can lead to insufficient acceleration and deceleration capacity of a movement track of a mechanical arm, so that working beats and production efficiency are affected.
Therefore, it is necessary to provide a method capable of adaptively calculating the maximum acceleration of each joint in the current installation posture of the robot in real time.
Disclosure of Invention
In order to solve the above problems, the present invention provides an adaptive maximum acceleration calculation method, which is applied to a robot, and at least comprises the following steps: acquiring a robot load parameter; selecting a maximum acceleration calculation mode, and calculating the maximum acceleration of each joint in the current installation posture of the robot in real time; and outputting the maximum acceleration of each joint of the robot, and performing track planning.
As an preferable technical scheme, the robot load parameter is obtained through a preset load parameter obtaining module, and is suitable for different maximum acceleration calculation modes.
As a preferable technical scheme, the maximum acceleration calculation mode is selected by a preset calculation mode selection module.
As a preferable technical scheme, the maximum acceleration calculation mode comprises a positive dynamics calculation module; the positive dynamic calculation module calculates the maximum acceleration of each joint of the robot through a positive dynamic equation based on the current installation posture and load parameters of the robot.
As a preferable technical solution, the maximum acceleration calculation mode includes a fast calculation module; the fast calculation module comprises a linear interpolation method and a formula proportion method.
As an optimal technical scheme, the linear interpolation method is based on the no-load maximum acceleration and the full-load maximum acceleration of the robot, and performs linear interpolation according to the current load mass, so as to obtain the joint maximum acceleration under the current load.
As a preferable technical scheme, the formula proportioning method is to establish a simplified dynamics model based on parameters of a robot joint maximum driving moment, a robot no-load maximum inertia, a load inertia, a robot no-load maximum gravity moment, a load mass, a robot maximum rod length and a distance from a mass center to a robot tail end, so as to solve the joint maximum acceleration under the current load.
The invention also provides a self-adaptive maximum acceleration calculating device, which at least comprises: the load parameter acquisition module is used for acquiring the load parameter currently installed by the robot so as to calculate the maximum acceleration capacity of the robot joint under the corresponding load; the calculation mode selection module is used for selecting a calculation mode for calculating the maximum acceleration of the joint; the positive dynamic calculation module is used for acquiring the maximum acceleration of the joint through a positive dynamic calculation method; and the rapid calculation module is used for acquiring the maximum acceleration of the joint through a rapid calculation method.
The invention also provides a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the above method.
The invention also provides an electronic device, comprising: a memory storing a computer program; and a processor for executing the computer program in the memory to implement the steps of the above method.
Compared with the prior art, the invention has the beneficial effects that:
the self-adaptive maximum acceleration multi-mode calculation method provided by the invention can calculate the maximum acceleration of the robot joint in the current state in real time and in a self-adaptive manner according to the current load, the gravity acceleration and other parameters, so that the problem that the maximum acceleration value is excessively large or excessively small due to artificial given is avoided, and the hardware of the robot joint can be protected to the greatest extent; in the self-adaptive maximum acceleration calculation, a positive dynamic calculation module or a rapid calculation module can be selected, and the self-adaptive maximum acceleration calculation system has various calculation modes, is selectable and has high flexibility. In addition, the robot joint acceleration is controlled in the calculated joint maximum acceleration range in the track planning, so that the vibration problem caused by overlarge acceleration can be solved to a certain extent, the alarm shutdown caused by overrun of parameter setting is reduced, and the production efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for adaptive maximum acceleration calculation according to an embodiment of the invention;
FIG. 2 is a schematic view of a multi-joint robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an adaptive maximum acceleration computing device according to an embodiment of the invention;
fig. 4 is a schematic diagram of an electronic device according to an embodiment of the invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first" and "second" and the like in the description and the claims of the present invention and the above drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of an adaptive maximum acceleration calculation method provided by an embodiment of the present invention, and the embodiment is applicable to a scene of robot adaptive maximum acceleration calculation. The method may be performed by an adaptive maximum acceleration computing device, which may be implemented in hardware and/or software, or may be configured in an electronic device.
As shown in fig. 1, an embodiment of the present invention provides an adaptive maximum acceleration calculating method, which includes the following steps:
s1, acquiring a robot load parameter;
s2, selecting a maximum acceleration calculation mode, and calculating the maximum acceleration of each joint in the current installation posture of the robot in real time;
and S3, outputting the maximum acceleration of each joint of the robot, and performing track planning.
In a specific embodiment, the robot load parameter in the step S1 is obtained through a preset load parameter obtaining module, and is suitable for different maximum acceleration calculation modes. Specifically, the robot load parameters, including but not limited to data of mass, centroid, inertia, etc. of the load, may be different according to the selection of different maximum acceleration calculation modes in order to calculate the maximum acceleration of the robot joint under the corresponding load.
In a specific embodiment, the selecting the maximum acceleration calculation mode in step S2 is implemented by a preset calculation mode selection module.
In a specific embodiment, the maximum acceleration calculation mode includes a positive dynamics calculation module; the positive dynamics calculation module calculates the maximum acceleration of each joint of the robot through a positive dynamics equation based on the current installation posture and load parameters of the robot, and the calculation method is as follows:
in the formula (i) the formula (ii),maximum acceleration, q and +.>Respectively representing the position and the speed of each joint of the current robot, and tau max Maximum driving moment for each joint of the robot, M -1 Is the inverse of the inertial matrix of the robot, +.>Is a matrix of the Coriolis force and the centrifugal force of the robot, G (q) is the moment of gravity of each joint of the robot, and tau f Is the robot joint friction moment.
In a specific embodiment, the maximum acceleration calculation mode includes a fast calculation module; it should be noted that, when the fast calculation module is selected for calculation, the positive dynamic calculation module is not called any more, but the fast calculation module is used for calculation. Compared with a positive dynamic method, the method has smaller calculated amount and more accurate result. In the maximum acceleration calculation mode, a positive dynamic calculation module or a rapid calculation module can be selected, the rapid calculation module comprises a linear interpolation method and a formula proportion method, and the method has the advantages of multiple calculation modes, selectable and strong flexibility. For example, the requirements on the accuracy of the dynamic model and the calculation accuracy of the maximum acceleration are higher, and when the real-time requirements are not high, the positive dynamic calculation module can be selected. And for the case of high real-time requirements, a formula proportioning method can be selected. For cases where simple estimation is required, such as when pre-planning, linear interpolation may be used. These three methods can be applied to different algorithms and functions.
Preferably, the linear interpolation method is based on the no-load maximum acceleration and the full-load maximum acceleration of the robot, and performs linear interpolation according to the current load mass, so as to obtain the joint maximum acceleration under the current load.
The adaptive maximum acceleration calculation method provided by the application is applied to robots, wherein the robots are multi-joint robots, including but not limited to serial multi-joint robots, for example: industrial robots, collaborative robots, and the like. The number of joints of the multi-joint mechanical arm is not limited. The present description will be given by taking a 6-joint robot as an example, and is not intended to limit the specific number of joints.
Specifically, taking a 6-joint robot as an example, fig. 2 is a schematic structural diagram of a multi-joint robot according to an embodiment of the present application. As shown in fig. 2, the multi-joint robot 300 of this embodiment includes 6 joints, respectively designated as joint J1, joint J2, joint J3, joint J4, joint J5, and joint J6.
The joint J2-joint J6 calculates the maximum acceleration by linear interpolation as shown in the following formula:
a＝a max,0 -km (2)
in the formula, m is the current load mass, k is the linear interpolation scaling factor, and a is the maximum acceleration sought.
The linear interpolation proportionality coefficient k is calculated under the condition of no-load maximum acceleration, full-load maximum acceleration and full-load mass of the known robot, and is calculated as shown in the following formula:
in the formula, a max,0 For the maximum acceleration of the robot in idle load,for maximum acceleration at full load, m full The robot is fully loaded with mass.
In the 6-joint robot, the joint J1 is greatly affected by the installation mode, and the joint J1 is the same type as the joint J2 and the axes intersect (as shown in fig. 2), so it can be assumed that the joint J1 is equal to the joint J2 acceleration in the side mounting, so the calculation of the maximum acceleration of the joint J1 is as follows:
in the formula, rx is the included angle between xoy of the basic coordinate system and the ground,fully load joint J1Maximum acceleration at time, +.>Is the maximum acceleration of joint J2 when fully loaded.
In a specific embodiment, the formula scaling method is to build a simplified dynamics model based on parameters of a robot joint maximum driving moment, a robot no-load maximum inertia, a load inertia, a robot no-load maximum gravity moment, a load mass, a robot maximum rod length and a distance from a mass center to a robot tail end, so as to solve the joint maximum acceleration under the current load.
Specifically, for the joint J2-J6, the relationship between the maximum driving moment and the maximum acceleration of the joint based on the stress balance is as follows:
τ max ＝(J r +J load(s) )a max +mg(L+r)+G (5)
In the formula, τ max For maximum driving moment of joint, J r Is the maximum inertia of the robot in no-load state, J Load(s) For load inertia, a max The maximum acceleration is m, the load mass is G, the gravity acceleration is G, L is the maximum rod length, r is the distance from the mass center to the tail end of the robot, and G is the maximum gravity moment of the robot when no load exists.
Further, for joint J1, when Rx is 0deg, the relationship between the maximum driving torque and the maximum acceleration of the joint J1 joint is as follows:
τ max ＝(J r +J load(s) )a max (6)。
When Rx is 0-90deg, the relation between the maximum driving moment and the maximum acceleration of the joint J1 joint is shown as the following formula:
τ max ＝(J r +J load(s) )a max +[mg(L+r)+G]sin(Rx) (7)。
When Rx is 90deg, the relationship between the maximum driving moment and the maximum acceleration of the joint J1 is as follows:
τ max ＝(J r +J load(s) )a max +mg(L+r)+G (8)。
In a specific embodiment, to simplify the calculation, the load inertia J Load(s) Simplified as shown in the following formula:
J load(s) ＝m(L+r) 2 (9)。
Further, assume a known mass m 1 Centroid distance r 1 Mass m 2 Centroid distance r 2 Corresponding maximum acceleration a 1 、a 2 . For the joint J2-joint J6, the maximum driving moment tau of the same joint is obtained max The maximum inertia J of the robot in the absence of load is shown in the formula (5) r The following formula is shown:
further, the maximum acceleration corresponding to the arbitrary robot load m at this time is calculated from the following equation (5) and equation (9):
in a specific embodiment, for joint J1, the maximum inertia J of the robot when empty is represented by equation (7) r The following formula is shown:
calibrating maximum inertia J of robot in no-load state according to test data r After that, rx is 0-90deg, and the maximum acceleration calculation method corresponding to any robot load m is obtained by the formula (7) as follows:
in another embodiment, the maximum acceleration calculation method corresponding to the arbitrary robot load m obtained by the formula (11) is:
the self-adaptive maximum acceleration calculation method provided by the invention can calculate the maximum acceleration of the robot joint in the current state in real time and in a self-adaptive manner according to the current load, the gravity acceleration and other parameters, thereby avoiding the problem that the maximum acceleration value is given by people too much or too little, and protecting the robot joint hardware to the greatest extent. The method is applied to a 6-joint robot, the robot load parameters can be obtained according to the characteristics of different joints, corresponding calculation is performed, and the adaptability is high.
In a specific embodiment, the maximum acceleration of each joint of the robot is output in the step S3, and the trajectory planning is performed; the track planning refers to track planning implemented within maximum acceleration. Specifically, the trajectory planning means that the robot joint acceleration is controlled within the calculated joint maximum acceleration range, so that the technical problem of mechanical vibration existing in the current speed planning of the robot can be solved, the alarm halt caused by overrun parameter setting is reduced, and the production efficiency is improved.
Fig. 3 is a block diagram of a structure of an adaptive maximum acceleration computing device according to the present invention, and this embodiment is applicable to a scene of adaptive maximum acceleration computing. The apparatus may be implemented in hardware and/or software, and integrated into a computer device having application development functionality.
As shown in fig. 3, the adaptive maximum acceleration calculating apparatus 100 includes: the load parameter acquisition module 101 is used for acquiring the load parameter currently installed by the robot so as to calculate the maximum acceleration capacity of the robot joint under the corresponding load; the computing mode selecting module 102 is used for selecting a computing mode for computing the maximum acceleration of the joint; the positive dynamics calculation module 103 is used for acquiring the maximum acceleration of the joint through a positive dynamics calculation method; the fast calculation module 104 is configured to obtain the maximum acceleration of the joint through a fast calculation method.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
The present application also provides a computer readable storage medium, such as a memory, storing a computer program executable by a processor to perform an adaptive maximum acceleration calculation method. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
In a specific embodiment, the present application also provides an electronic device comprising a memory and a processor, the memory storing a computer program; the processor is configured to execute the computer program in the memory to implement the adaptive maximum acceleration calculation method described above.
Fig. 4 is a schematic diagram of an electronic device according to an embodiment of the invention. In a specific embodiment, as shown in fig. 4, the electronic device 200 may include a processor 201, a memory 202, an input/output component 203, and a communication port 204. Processor 201 (e.g., a CPU) may execute program commands in the form of one or more processors. Memory 202 includes various forms of program memory and data memory, such as a hard disk, read-only memory (ROM), random Access Memory (RAM), etc., for storing a wide variety of data files for processing and/or transmission by the computer. Input/output component 203 can be used to support input/output between the processing device and other components. The communication port 204 may be connected to a network for enabling data communication. An exemplary processing device may include program commands stored in read memory (ROM), random Access Memory (RAM), and/or other types of non-transitory storage media for execution by a processor. The methods and/or processes of the embodiments of the present description may be implemented in the form of program instructions.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. The self-adaptive maximum acceleration calculation method is applied to a robot and is characterized by at least comprising the following steps:
acquiring a robot load parameter;
selecting a maximum acceleration calculation mode, and calculating the maximum acceleration of each joint in the current installation posture of the robot in real time;
outputting the maximum acceleration of each joint of the robot, and performing track planning;
the maximum acceleration calculation mode comprises a positive dynamics calculation module; the positive dynamics calculation module calculates the maximum acceleration of each joint of the robot through a positive dynamics equation based on the current installation posture and load parameters of the robot, and the calculation method is as follows:
in the formula (i) the formula (ii),maximum acceleration, q and +.>Respectively representing the position and the speed of each joint of the current robot, and tau max Maximum driving moment for each joint of the robot, M -1 Is the inverse of the inertial matrix of the robot, +.>Is a matrix of the Coriolis force and the centrifugal force of the robot, G (q) is the moment of gravity of each joint of the robot, and tau f The friction moment is the robot joint friction moment;
the maximum acceleration calculation mode further comprises a rapid calculation module; the rapid calculation module comprises a linear interpolation method; the linear interpolation method is based on the no-load maximum acceleration and the full-load maximum acceleration of the robot, and performs linear interpolation according to the current load mass, so as to obtain the joint maximum acceleration under the current load.
2. The adaptive maximum acceleration computing method according to claim 1, wherein the robot load parameters are obtained by a preset load parameter obtaining module, and are suitable for different maximum acceleration computing modes.
3. The adaptive maximum acceleration computing method of claim 1, wherein the selecting the maximum acceleration computing mode is performed by a preset computing mode selection module.
4. The adaptive maximum acceleration calculation method of claim 1, wherein the fast calculation module further comprises a formula scaling method.
5. The method of claim 4, wherein the formula scaling method is based on parameters of robot joint maximum driving moment, robot no-load maximum inertia, load inertia, robot no-load maximum gravity moment, load mass, robot maximum pole length and distance from the center of mass to the end of the robot, and establishes a simplified dynamics model to solve for the current loadMaximum acceleration of the joint; applied to a 6-joint robot, and for the joint J2-the joint J6, J r Is the maximum inertia of the robot in no-load state, J Load(s) The moment of inertia is the load inertia, m is the load mass, g is the gravitational acceleration, L is the maximum rod length, r is the distance from the mass center to the tail end of the robot, and the maximum driving moment tau of the same joint is achieved max Under the assumption that the load mass m is known 1 Centroid distance r 1 Load mass m 1 Centroid distance r 1 Corresponding maximum acceleration a 1 ，J Load 1 For this purpose, the load mass m 1 The corresponding load inertia and the maximum acceleration corresponding to any robot load m are calculated as follows:for the joint J1, rx is the included angle between xoy of a base coordinate system and the ground, rx is 0-90deg, and the maximum acceleration calculation method corresponding to any robot load m is as follows:
6. an apparatus of the adaptive maximum acceleration calculation method according to any one of the claims 1 to 5, characterized by at least comprising:
the load parameter acquisition module is used for acquiring the load parameter currently installed by the robot so as to calculate the maximum acceleration capacity of the robot joint under the corresponding load;
the calculation mode selection module is used for selecting a calculation mode for calculating the maximum acceleration of the joint;
the positive dynamic calculation module is used for acquiring the maximum acceleration of the joint through a positive dynamic calculation method;
and the rapid calculation module is used for acquiring the maximum acceleration of the joint through a rapid calculation method.
7. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method of any one of claims 1 to 5.
8. An electronic device, comprising:
a memory storing a computer program;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310473608.5A CN116197917B (en) | 2023-04-28 | 2023-04-28 | Self-adaptive maximum acceleration calculation method and device, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310473608.5A CN116197917B (en) | 2023-04-28 | 2023-04-28 | Self-adaptive maximum acceleration calculation method and device, storage medium and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116197917A CN116197917A (en) | 2023-06-02 |
| CN116197917B true CN116197917B (en) | 2023-08-01 |
Family
ID=86513255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310473608.5A Active CN116197917B (en) | 2023-04-28 | 2023-04-28 | Self-adaptive maximum acceleration calculation method and device, storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116197917B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007244053A (en) * | 2006-03-07 | 2007-09-20 | Hitachi Industrial Equipment Systems Co Ltd | Motor control device and motor control method |
| CN105773620A (en) * | 2016-04-26 | 2016-07-20 | 南京工程学院 | Track planning and control method of free curve of industrial robot based on double quaternions |
| CN107103297A (en) * | 2017-04-20 | 2017-08-29 | 武汉理工大学 | Gait identification method and system based on mobile phone acceleration sensor |
| CN108890650A (en) * | 2018-08-30 | 2018-11-27 | 无锡信捷电气股份有限公司 | PTP acceleration optimization method and device based on dynamic parameters identification |
| CN110576437A (en) * | 2018-06-08 | 2019-12-17 | 丰田自动车株式会社 | Action planning device and action planning method |
| CN113119111A (en) * | 2021-03-18 | 2021-07-16 | 深圳市优必选科技股份有限公司 | Mechanical arm and track planning method and device thereof |
| WO2021170623A1 (en) * | 2020-02-28 | 2021-09-02 | Kuka Deutschland Gmbh | Robot control |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9242376B2 (en) * | 2013-03-28 | 2016-01-26 | Denso Wave Incorporated | Method of generating path of multiaxial robot and control apparatus for the multiaxial robot |
-
2023
- 2023-04-28 CN CN202310473608.5A patent/CN116197917B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007244053A (en) * | 2006-03-07 | 2007-09-20 | Hitachi Industrial Equipment Systems Co Ltd | Motor control device and motor control method |
| CN105773620A (en) * | 2016-04-26 | 2016-07-20 | 南京工程学院 | Track planning and control method of free curve of industrial robot based on double quaternions |
| CN107103297A (en) * | 2017-04-20 | 2017-08-29 | 武汉理工大学 | Gait identification method and system based on mobile phone acceleration sensor |
| CN110576437A (en) * | 2018-06-08 | 2019-12-17 | 丰田自动车株式会社 | Action planning device and action planning method |
| CN108890650A (en) * | 2018-08-30 | 2018-11-27 | 无锡信捷电气股份有限公司 | PTP acceleration optimization method and device based on dynamic parameters identification |
| WO2021170623A1 (en) * | 2020-02-28 | 2021-09-02 | Kuka Deutschland Gmbh | Robot control |
| CN115485107A (en) * | 2020-02-28 | 2022-12-16 | 库卡德国有限公司 | Robot control |
| CN113119111A (en) * | 2021-03-18 | 2021-07-16 | 深圳市优必选科技股份有限公司 | Mechanical arm and track planning method and device thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116197917A (en) | 2023-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111136633B (en) | All-state control method for flexible master-slave robot system under time-varying delay | |
| CN102189550B (en) | Robot having learning control function | |
| CN109397265B (en) | Joint type industrial robot dragging teaching method based on dynamic model | |
| CN110076772B (en) | Grabbing method and device for mechanical arm | |
| JP2763832B2 (en) | Control device and method for plant including unknown dynamics | |
| CN112809667B (en) | Force control method and device of industrial robot and application of force control device | |
| CN113319857B (en) | Mechanical arm force and position hybrid control method and device, electronic equipment and storage medium | |
| CN109760063B (en) | Parallel robot control method, device, equipment and storage medium | |
| WO2022227536A1 (en) | Robot arm control method and apparatus, and robot arm and readable storage medium | |
| CN107505835A (en) | A kind of method, apparatus and system of control machinery hands movement | |
| CN115946131A (en) | Flexible joint mechanical arm motion control simulation calculation method and device | |
| CN112528434A (en) | Information identification method and device, electronic equipment and storage medium | |
| CN116197917B (en) | Self-adaptive maximum acceleration calculation method and device, storage medium and electronic equipment | |
| CN108608427A (en) | Unusual method and device is kept away in Robot Force control distraction procedure | |
| CN112847373B (en) | Robot track synchronous control method and computer readable storage medium | |
| JP3698770B2 (en) | Load weight estimation method | |
| CN116175548B (en) | Self-adaptive variable-impedance electric driving system for robot and control method and device | |
| CN110861083A (en) | Robot teaching method and device, storage medium and robot | |
| CN111993416B (en) | Method, equipment, system and device for controlling movement of mechanical arm | |
| CN113927603B (en) | Mechanical arm dragging control method and device, computer equipment and storage medium | |
| CN114211502B (en) | Robot load identification method and identification device | |
| CN110083127B (en) | Servo driver control method and system for multi-joint robot | |
| CN112008731B (en) | Compliance control method, device, terminal, system and readable storage medium for aerial work robot | |
| CN112991445A (en) | Model training method, attitude prediction method, device, equipment and storage medium | |
| JPH08190433A (en) | Load weight estimating method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |