CN106476012B - 一种辅助机械臂控制***的控制方法 - Google Patents
一种辅助机械臂控制***的控制方法 Download PDFInfo
- Publication number
- CN106476012B CN106476012B CN201610906933.6A CN201610906933A CN106476012B CN 106476012 B CN106476012 B CN 106476012B CN 201610906933 A CN201610906933 A CN 201610906933A CN 106476012 B CN106476012 B CN 106476012B
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- Prior art keywords
- mechanical arm
- joint
- master controller
- arm
- forearm
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 210000000245 forearm Anatomy 0.000 claims description 39
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 37
- 238000004422 calculation algorithm Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000009826 distribution Methods 0.000 description 7
- 238000011160 research Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- 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
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
Description
i | θ | 关节变量角度 | 连杆长度 | 液压缸参数 |
1 | θ<sub>1</sub> | 85°~95° | 1250mm | 380mm(行程100mm) |
2 | θ<sub>2</sub> | 75°~135° | 1800mm | 680mm(行程400mm) |
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610906933.6A CN106476012B (zh) | 2016-10-18 | 2016-10-18 | 一种辅助机械臂控制***的控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610906933.6A CN106476012B (zh) | 2016-10-18 | 2016-10-18 | 一种辅助机械臂控制***的控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106476012A CN106476012A (zh) | 2017-03-08 |
CN106476012B true CN106476012B (zh) | 2019-04-02 |
Family
ID=58270152
Family Applications (1)
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CN201610906933.6A Active CN106476012B (zh) | 2016-10-18 | 2016-10-18 | 一种辅助机械臂控制***的控制方法 |
Country Status (1)
Country | Link |
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CN (1) | CN106476012B (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108717713B (zh) * | 2018-05-23 | 2021-11-30 | 南京理工大学 | 一种基于双目视觉的复杂背景下横担姿态测量方法 |
CN112191354A (zh) * | 2020-10-09 | 2021-01-08 | 矿冶科技集团有限公司 | 控制方法、装置、***、控制设备及计算机可读存储介质 |
CN112343878B (zh) * | 2020-10-15 | 2023-01-13 | 南京晨光集团有限责任公司 | 机械臂直线运动的液压驱动***及其智能控制方法 |
CN112440280A (zh) * | 2020-11-13 | 2021-03-05 | 国网天津市电力公司 | 一种具有主从控制功能的电力带电作业用液压机械臂 |
CN112757309B (zh) * | 2020-12-08 | 2022-05-24 | 南京科工煤炭科学技术研究有限公司 | 一种喷涂机器人的控制***及控制方法 |
Citations (13)
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EP0674975A1 (en) * | 1994-03-29 | 1995-10-04 | General Electric Company | Maintenance system |
CN101327591A (zh) * | 2008-07-22 | 2008-12-24 | 吉林大学 | 两自由度位置反馈型双向伺服手控器控制*** |
CN101327589A (zh) * | 2008-07-10 | 2008-12-24 | 上海交通大学 | 遥操作平面冗余度机械臂指令输入及构型控制***及方法 |
CN101525944A (zh) * | 2009-03-31 | 2009-09-09 | 北京易斯路电子有限公司 | 混凝土泵车智能臂架控制***及其控制方法 |
CN201358142Y (zh) * | 2009-02-25 | 2009-12-09 | 中国船舶重工集团公司第七一三研究所 | 伸缩臂起重机自动控制*** |
CN102360228A (zh) * | 2011-09-28 | 2012-02-22 | 三一重工股份有限公司 | 一种臂架动作控制***及混凝土泵车 |
CN103753534A (zh) * | 2013-12-13 | 2014-04-30 | 国家电网公司 | 一种移动机器人控制器及其控制方法 |
CN104476548A (zh) * | 2014-10-24 | 2015-04-01 | 四川省绵阳西南自动化研究所 | 一种挖掘机器人自主作业控制***及方法 |
CN104778872A (zh) * | 2015-04-03 | 2015-07-15 | 上海交通大学 | 用于机械臂遥操作人机交互研究的仿真实验训练平台 |
CN104989685A (zh) * | 2015-04-28 | 2015-10-21 | 国家电网公司 | 一种变电站带电水冲洗机器人液压控制*** |
CN105014674A (zh) * | 2014-09-10 | 2015-11-04 | 国家电网公司 | 换流站带电水冲洗机器人***及方法 |
CN204893959U (zh) * | 2015-08-14 | 2015-12-23 | 成都卡诺普自动化控制技术有限公司 | 机器人快速拖动示教*** |
CN105234942A (zh) * | 2015-11-02 | 2016-01-13 | 国网山东省电力公司电力科学研究院 | 大持重液压小吊臂的控制***及其控制方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4249794B1 (ja) * | 2007-10-29 | 2009-04-08 | ファナック株式会社 | ワーク搬送用ロボットの制御装置 |
-
2016
- 2016-10-18 CN CN201610906933.6A patent/CN106476012B/zh active Active
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0674975A1 (en) * | 1994-03-29 | 1995-10-04 | General Electric Company | Maintenance system |
CN101327589A (zh) * | 2008-07-10 | 2008-12-24 | 上海交通大学 | 遥操作平面冗余度机械臂指令输入及构型控制***及方法 |
CN101327591A (zh) * | 2008-07-22 | 2008-12-24 | 吉林大学 | 两自由度位置反馈型双向伺服手控器控制*** |
CN201358142Y (zh) * | 2009-02-25 | 2009-12-09 | 中国船舶重工集团公司第七一三研究所 | 伸缩臂起重机自动控制*** |
CN101525944A (zh) * | 2009-03-31 | 2009-09-09 | 北京易斯路电子有限公司 | 混凝土泵车智能臂架控制***及其控制方法 |
CN102360228A (zh) * | 2011-09-28 | 2012-02-22 | 三一重工股份有限公司 | 一种臂架动作控制***及混凝土泵车 |
CN103753534A (zh) * | 2013-12-13 | 2014-04-30 | 国家电网公司 | 一种移动机器人控制器及其控制方法 |
CN105014674A (zh) * | 2014-09-10 | 2015-11-04 | 国家电网公司 | 换流站带电水冲洗机器人***及方法 |
CN104476548A (zh) * | 2014-10-24 | 2015-04-01 | 四川省绵阳西南自动化研究所 | 一种挖掘机器人自主作业控制***及方法 |
CN104778872A (zh) * | 2015-04-03 | 2015-07-15 | 上海交通大学 | 用于机械臂遥操作人机交互研究的仿真实验训练平台 |
CN104989685A (zh) * | 2015-04-28 | 2015-10-21 | 国家电网公司 | 一种变电站带电水冲洗机器人液压控制*** |
CN204893959U (zh) * | 2015-08-14 | 2015-12-23 | 成都卡诺普自动化控制技术有限公司 | 机器人快速拖动示教*** |
CN105234942A (zh) * | 2015-11-02 | 2016-01-13 | 国网山东省电力公司电力科学研究院 | 大持重液压小吊臂的控制***及其控制方法 |
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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
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CP01 | Change in the name or title of a patent holder | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
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TR01 | Transfer of patent right |