FI891876A - Styrning av robotledarm. - Google Patents

Styrning av robotledarm. Download PDF

Info

Publication number
FI891876A
FI891876A FI891876A FI891876A FI891876A FI 891876 A FI891876 A FI 891876A FI 891876 A FI891876 A FI 891876A FI 891876 A FI891876 A FI 891876A FI 891876 A FI891876 A FI 891876A
Authority
FI
Finland
Prior art keywords
robotledarm
styrning
Prior art date
Application number
FI891876A
Other languages
English (en)
Other versions
FI891876A0 (fi
Inventor
Stephen Kwok Chung Chan
Peter Donald Lawrence
Original Assignee
Univ British Columbia
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Univ British Columbia filed Critical Univ British Columbia
Publication of FI891876A0 publication Critical patent/FI891876A0/fi
Publication of FI891876A publication Critical patent/FI891876A/fi

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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40327—Calculation, inverse kinematics solution using damped least squares method

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)
FI891876A 1988-04-20 1989-04-19 Styrning av robotledarm. FI891876A (fi)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US07/184,107 US4893254A (en) 1988-04-20 1988-04-20 Manipulator arm position sensing

Publications (2)

Publication Number Publication Date
FI891876A0 FI891876A0 (fi) 1989-04-19
FI891876A true FI891876A (fi) 1989-10-21

Family

ID=22675579

Family Applications (1)

Application Number Title Priority Date Filing Date
FI891876A FI891876A (fi) 1988-04-20 1989-04-19 Styrning av robotledarm.

Country Status (5)

Country Link
US (1) US4893254A (fi)
EP (1) EP0338705A3 (fi)
JP (1) JPH01316187A (fi)
CA (1) CA1330584C (fi)
FI (1) FI891876A (fi)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2521830B2 (ja) * 1990-02-14 1996-08-07 川崎重工業株式会社 産業用ロボットの制御方法および装置
JP2608161B2 (ja) * 1990-03-29 1997-05-07 ファナック株式会社 産業用ロボットの停止制御方法
US5430643A (en) * 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US5502363A (en) * 1994-01-04 1996-03-26 University Of Maryland-Baltimore County Apparatus for controlling angular positioning and stiffness modulations of joint of robotic manipulator
SE9400579L (sv) * 1994-02-21 1995-08-22 Asea Brown Boveri Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
GB9403644D0 (en) * 1994-02-25 1994-04-13 Advanced Robotics Res Manipulator controller
JP4005639B2 (ja) * 1996-10-18 2007-11-07 株式会社安川電機 活線作業用ロボット車
US6154691A (en) * 1997-09-02 2000-11-28 Honeywell International Inc. Orienting a satellite with controlled momentum gyros
US6131056A (en) * 1998-03-16 2000-10-10 Honeywell International Inc. Continuous attitude control that avoids CMG array singularities
DE19853765C1 (de) 1998-11-21 2000-07-13 Forschungszentrum Juelich Gmbh Verfahren und Vorrichtung zur Ermittlung einer Regelhaftigkeit
AU2002331786A1 (en) * 2001-08-31 2003-03-18 The Board Of Regents Of The University And Community College System, On Behalf Of The University Of Coordinated joint motion control system
US6845295B2 (en) * 2002-03-07 2005-01-18 Fanuc Robotics America, Inc. Method of controlling a robot through a singularity
WO2006086021A2 (en) 2004-10-25 2006-08-17 University Of Dayton Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination
US8065060B2 (en) * 2006-01-18 2011-11-22 The Board Of Regents Of The University And Community College System On Behalf Of The University Of Nevada Coordinated joint motion control system with position error correction
US20100137761A1 (en) * 2007-08-03 2010-06-03 Shohei Taniguchi Massage apparatus
US20110301781A1 (en) * 2008-11-26 2011-12-08 Volvo Construction Equipment Method for calibrating an angle sensor and vehicle with an angle sensor
CN101870104B (zh) * 2009-04-25 2012-09-19 鸿富锦精密工业（深圳）有限公司 机械手臂反向运动方法
US9205555B2 (en) * 2011-03-22 2015-12-08 Harris Corporation Manipulator joint-limit handling algorithm
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
US9128507B2 (en) 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
US10327855B2 (en) 2014-09-17 2019-06-25 Intuitive Surgical Operations, Inc. Systems and methods for utilizing augmented Jacobian to control manipulator joint movement
JP6700669B2 (ja) * 2015-04-07 2020-05-27 キヤノン株式会社 制御方法、ロボット装置、プログラム、記録媒体、及び物品の製造方法
CN107650120B (zh) * 2016-07-26 2022-04-19 深圳华清精密科技有限公司 一种用于确定9自由度机械臂的全部奇异构型的方法
CN109591015B (zh) * 2018-12-29 2022-03-15 西北工业大学 一种评估多臂空间机器人的动力学可操作度方法
EP3845346A1 (en) * 2019-12-31 2021-07-07 Fundación Tecnalia Research & Innovation Method, system and computer program product for controlling the teleoperation of a robotic arm
CN117207200B (zh) * 2023-11-09 2024-07-23 湖南视比特机器人有限公司 机械臂的工作空间生成方法、装置和计算机设备

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58114888A (ja) * 1981-12-28 1983-07-08 富士通株式会社 ロボツトの軌跡制御方式
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
JPS62231307A (ja) * 1986-03-31 1987-10-09 Matsushita Electric Ind Co Ltd ア−ム制御方法

Also Published As

Publication number Publication date
EP0338705A2 (en) 1989-10-25
CA1330584C (en) 1994-07-05
EP0338705A3 (en) 1990-12-05
FI891876A0 (fi) 1989-04-19
JPH01316187A (ja) 1989-12-21
US4893254A (en) 1990-01-09

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Owner name: UNIVERSITY OF BRITISH COLUMBIA