JP2010502454A5 - - Google Patents

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Publication number
JP2010502454A5
JP2010502454A5 JP2009526668A JP2009526668A JP2010502454A5 JP 2010502454 A5 JP2010502454 A5 JP 2010502454A5 JP 2009526668 A JP2009526668 A JP 2009526668A JP 2009526668 A JP2009526668 A JP 2009526668A JP 2010502454 A5 JP2010502454 A5 JP 2010502454A5
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JP
Japan
Prior art keywords
singular
joints
value
jacobian matrix
vector
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JP2009526668A
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English (en)
Japanese (ja)
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JP2010502454A (ja
JP5393461B2 (ja
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Priority claimed from US11/514,072 external-priority patent/US8010235B2/en
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Publication of JP2010502454A publication Critical patent/JP2010502454A/ja
Publication of JP2010502454A5 publication Critical patent/JP2010502454A5/ja
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Publication of JP5393461B2 publication Critical patent/JP5393461B2/ja
Expired - Fee Related legal-status Critical Current
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JP2009526668A 2006-08-31 2007-08-27 多軸機械の数値制御方法及び該方法を用いた処理システム Expired - Fee Related JP5393461B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US11/514,072 US8010235B2 (en) 2005-05-31 2006-08-31 Approaching and compensating for machine kinematic singularities
US11/514,072 2006-08-31
PCT/US2007/018820 WO2008027334A2 (en) 2006-08-31 2007-08-27 Approaching and compensating for machine kinematic singularities

Publications (3)

Publication Number Publication Date
JP2010502454A JP2010502454A (ja) 2010-01-28
JP2010502454A5 true JP2010502454A5 (enExample) 2013-09-12
JP5393461B2 JP5393461B2 (ja) 2014-01-22

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ID=39136516

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Application Number Title Priority Date Filing Date
JP2009526668A Expired - Fee Related JP5393461B2 (ja) 2006-08-31 2007-08-27 多軸機械の数値制御方法及び該方法を用いた処理システム

Country Status (5)

Country Link
US (1) US8010235B2 (enExample)
EP (1) EP2073959B1 (enExample)
JP (1) JP5393461B2 (enExample)
CN (1) CN101505925B (enExample)
WO (1) WO2008027334A2 (enExample)

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* Cited by examiner, † Cited by third party
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JP4692488B2 (ja) * 2005-12-26 2011-06-01 三菱電機株式会社 数値制御装置及び数値制御工作機械
JP2008073830A (ja) * 2006-09-25 2008-04-03 Fanuc Ltd ロボット制御装置
FR2960074B1 (fr) * 2010-05-14 2012-06-15 Staubli Sa Ets Procede de commande d'une cellule de travail automatisee
WO2011152790A1 (en) 2010-06-03 2011-12-08 Delaval Holding Ab A milking robot, and a milking arrangement
DE102010032917A1 (de) * 2010-07-30 2012-04-19 Brötje-Automation GmbH Verfahren zur Offline-Programmierung eines NC-gesteuerten Manipulators
US8532825B1 (en) * 2010-08-25 2013-09-10 The Boeing Company Software compensation for kinematically singular machines
CN104965517B (zh) * 2015-07-07 2018-01-26 张耀伦 一种机器人笛卡尔空间轨迹的规划方法
CN105415363B (zh) * 2015-12-23 2017-11-17 珠海格力电器股份有限公司 机器人奇异点处理方法
US10065311B1 (en) * 2016-06-08 2018-09-04 X Development Llc Singularity handling for robot jogging
JP7222898B2 (ja) * 2017-06-12 2023-02-15 ジーメンス インダストリー ソフトウェア リミテッド ロボット製造での所定のターゲットへの到達をロボットにティーチングするための方法およびシステム
CN113263496B (zh) * 2021-04-01 2022-09-23 北京无线电测量研究所 一种六自由度机械臂优化路径的方法和计算机设备
CN114549352B (zh) * 2022-02-21 2025-04-18 中国第一汽车股份有限公司 图像处理方法、装置、电子设备和存储介质
WO2025053285A1 (ja) * 2023-09-08 2025-03-13 技術研究組合 産業用ロボット次世代基礎技術研究機構 プログラム、記憶媒体、情報処理装置、システム及びロボットの動作を制御する方法

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US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
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SE9400579L (sv) * 1994-02-21 1995-08-22 Asea Brown Boveri Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
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