CN106956267A - Robot arm barrier-avoiding method and system - Google Patents
Robot arm barrier-avoiding method and system Download PDFInfo
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- CN106956267A CN106956267A CN201710391298.7A CN201710391298A CN106956267A CN 106956267 A CN106956267 A CN 106956267A CN 201710391298 A CN201710391298 A CN 201710391298A CN 106956267 A CN106956267 A CN 106956267A
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- robot arm
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- current oscillation
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- measured distance
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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
- B25J9/1656—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
- B25J9/1666—Avoiding collision or forbidden zones
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- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39082—Collision, real time collision avoidance
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The embodiment of the present invention provides a kind of robot arm barrier-avoiding method and system, and this method includes：According to the control in the current oscillation direction to robot arm, the measured distance value of avoidance detector corresponding with current oscillation direction on robot arm is obtained, what the measured distance value was represented is robot arm with working as the distance between barrier on swaying direction；If measured distance value is less than or equal to default avoidance distance threshold, control machine human arm stops swinging to current oscillation direction, to realize avoidance of the robot arm on current oscillation direction.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly to a kind of robot arm barrier-avoiding method and system.
Background technology
In recent years, deepened continuously with the development and artificial intelligence study of robot technology, bionic intelligence mobile robot
Play the part of more and more important role in human lives, be used widely in numerous areas.
Bionic intelligence mobile robot is that a class can be real now with obstacle by sensor senses environment and oneself state
Object-oriented independent navigation motion in the environment of thing, so as to complete the robot system of preplanned mission.Therefore, obstacle avoidance system is
The indispensable key element of bionic intelligence mobile robot.Usually, avoidance is multiple based on what is configured in bionic intelligence mobile robot
The detector of avoidance is realized to detect barrier.
At present, it is usually that avoidance is installed at the walking chassis of bionic intelligence mobile robot or close to the position on head
Detector, and bionic intelligence mobile robot is in actual applications, in addition to it can normally walk, to improve intelligent journey
Degree, may be also configured with other motor functions, now, only may by being installed on the avoidance detector of walking chassis or head
Reliable avoidance effect can not be met.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of robot arm barrier-avoiding method and system, when robot has can
During the arm of swing, machine is realized with reference to avoidance detector corresponding with each swing free degree direction is set on robot arm
The avoidance of human arm.
In a first aspect, the embodiment of the present invention provides a kind of robot arm barrier-avoiding method, including：
According to the control in the current oscillation direction to robot arm, to obtain and work as forward swing with described on the robot arm
The measured distance value of the dynamic corresponding avoidance detector in direction, what the measured distance value was represented is the robot arm with it is described
The distance between barrier on swaying direction；
If the measured distance value is less than or equal to default avoidance distance threshold, control the robot arm stop to
The current oscillation direction is swung.
Alternatively, methods described also includes：
If the collision for receiving anti-collision structure triggering corresponding with the current oscillation direction on the robot arm refers to
Show signal, then control the robot arm to stop swinging to the current oscillation direction.
Second aspect, the embodiment of the present invention provides a kind of robot arm obstacle avoidance system, including：
Swingable robot arm, is arranged on each swaying direction with the robot arm on the robot arm
Corresponding avoidance detector, drives the motor of the robot arm swing, and controller respectively；
The avoidance detector, for detecting the reality on correspondence swaying direction between the robot arm and barrier
Survey distance value；
The controller, for the control according to the current oscillation direction to the robot arm, obtains and works as with described
The measured distance value of the corresponding avoidance detector of preceding swaying direction；If the measured distance value is less than or equal to default avoidance distance
Threshold value, then by controlling the motor with control the robot arm stop to the current oscillation direction swing.
Alternatively, the system also includes：
The corresponding anti-collision structure of each swaying direction difference with the robot arm on the robot arm is arranged on,
The anti-collision structure has corresponding switch, and one end of the switch is connected with the motor；
The motor, if for receive anti-collision structure corresponding with the current oscillation direction switch close and
The collision indication signal of triggering, then control the robot arm to stop swinging to the current oscillation direction.
Robot arm barrier-avoiding method provided in an embodiment of the present invention and system, robot have swingable arm,
Avoidance detector corresponding with each swaying direction difference of robot arm is set on robot arm.When based on actual demand control
Robot arm processed when it is preceding swung to some swaying direction when, can constantly obtain at a time interval on robot arm with
Between the barrier on robot arm and current oscillation direction that the corresponding avoidance detector in the current oscillation direction is measured
Measured distance value.When finding that the measured distance value is less than or equal to default avoidance distance threshold, control machine human arm stops
Swung to current oscillation direction, to realize avoidance of the robot arm on current oscillation direction.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart of robot arm barrier-avoiding method embodiment one provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of robot arm provided in an embodiment of the present invention；
Fig. 3 is the flow chart of robot arm barrier-avoiding method embodiment two provided in an embodiment of the present invention；
Fig. 4 is the structural representation of robot arm obstacle avoidance system embodiment one provided in an embodiment of the present invention；
Fig. 5 is the structural representation of robot arm obstacle avoidance system embodiment two provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The term used in embodiments of the present invention is the purpose only merely for description specific embodiment, and is not intended to be limiting
The present invention." one kind ", " described " and "the" of singulative used in the embodiment of the present invention and appended claims
It is also intended to including most forms, unless context clearly shows that other implications, " a variety of " generally comprise at least two, but not
Exclude and include at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, represent
There may be three kinds of relations, for example, A and/or B, can be represented：Individualism A, while there is A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relation of "or" to typically represent forward-backward correlation object.
It will be appreciated that though XXX may be described using term first, second, third, etc. in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for distinguishing XXX.For example, not departing from embodiment of the present invention model
In the case of enclosing, the first XXX can also be referred to as the 2nd XXX, similarly, and the 2nd XXX can also be referred to as the first XXX.
Depending on linguistic context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determining " or " in response to detection ".Similarly, depending on linguistic context, phrase " if it is determined that " or " such as
Fruit detection (condition or event of statement) " can be construed to " when it is determined that when " or " in response to determine " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising, so that commodity or system including a series of key elements not only include those key elements, but also including without clear and definite
Other key elements listed, or also include for this commodity or the intrinsic key element of system.In the feelings of not more limitations
Under condition, the key element limited by sentence "including a ...", it is not excluded that in the commodity or system including the key element also
There is other identical element.
Further what deserves to be explained is, the order in various embodiments of the present invention between each step is adjustable, and is not
It must be performed according to the order of following citing.
Fig. 1 is the flow chart of robot arm barrier-avoiding method embodiment one provided in an embodiment of the present invention, and the present embodiment is carried
The robot arm barrier-avoiding method supplied can be implemented as software, or be embodied as the combination of software and hardware, such as the machine
The hardware that human arm barrier-avoiding method can be constituted by the controller that is combined by software and hardware or by fpga chip
Controller is performed, and the controller can be arranged on robot fuselage interior.As shown in figure 1, this method comprises the following steps：：
Step 101, the control according to the current oscillation direction to robot arm, are obtained on robot arm with working as forward swing
The measured distance value of the dynamic corresponding avoidance detector in direction.
Wherein, what the measured distance value was represented be between barrier on robot arm and current oscillation direction away from
From.
If step 102, measured distance value are less than or equal to default avoidance distance threshold, control machine human arm stop to
Current oscillation direction is swung.
Machine in the embodiment of the present invention artificially has the robot of swingable arm, the swaying direction of robot arm
Can include upwards, downwards, to the left, four frees degree to the right.It can be set on robot arm and each swaying direction pair
The avoidance detector answered, the avoidance detector can be laser sensor.
In actual applications, can be with driving machine when needing to allow robot arm to swing to some direction based on certain demand
Device human arm is swung to the direction.During robot arm is swung to the direction, robot as you were also may may be used
It can be walked simultaneously to the direction.Assuming that during robot walks to certain direction, control machine human arm is also to the direction
Swing, and robot arm is during swing, probably due to there is barrier in the front somewhere of the swaying direction so that
Robot arm may be collided during being swung to the swaying direction with the barrier.
To avoid barrier of the robot arm with front on current swaying direction from colliding, as control machine people
Arm to the swaying direction swing during, can at a time interval such as 100 milliseconds come from the swaying direction
The measured distance value between the robot arm and front obstacle that it detects is obtained at corresponding avoidance detector, works as discovery
When the measured distance value is less than or equal to default avoidance distance threshold, illustrate that robot arm will be with swaying direction front
Barrier collide, control machine human arm stop to the swaying direction swing.
It is understood that for for the corresponding avoidance sensor of any swaying direction, it can be pre-arranged
Maximum detection range, the distance between the barrier in front of robot arm and any swaying direction is more than maximum spy
Ranging from when, the measured distance value that the avoidance sensor is measured could be arranged to infinity.
In addition, what deserves to be explained is, it is assumed that current machine human arm is swung to the left, at this point it is possible to only control with to
The left corresponding avoidance sensors work of swaying direction, naturally it is also possible to control the corresponding avoidance detector of other swaying directions
Work simultaneously.Moreover, the mark of each avoidance detector and the corresponding relation of swaying direction are previously stored with controller, so as to root
According to control currently to the swaying direction of robot arm, determine should currently to obtain which avoidance detection with reference to the corresponding relation
The measured distance value that device is measured.
In actual applications, it is the effect that personalizes of raising robot arm, the machine comprising forearm and postbrachium can be set
Device human arm, as shown in Fig. 2 the robot arm includes forearm and postbrachium so that, forearm and postbrachium can have respectively it is upper,
Under, the swing free degree of left and right four swaying directions.Alternatively, it is corresponding with the swaying direction for any swaying direction
Avoidance detector can include the first avoidance detector for being arranged on forearm and the second avoidance being arranged on postbrachium detection
Device.Further, since in the swing process of robot arm, the rotation path of the end of forearm and postbrachium is most long, so that,
, can be by the first avoidance detector corresponding with the swaying direction and the second avoidance detector point for any swaying direction
The end side of forearm and postbrachium is not arranged on, most effectively to prevent that robot arm from touching in the swing process of the swaying direction
To barrier.
When robot arm includes forearm and postbrachium, if the first avoidance detector on current oscillation direction corresponding the
The corresponding second measured distance value of the second avoidance detector in one measured distance value or current oscillation direction is less than or equal to
Avoidance distance threshold is preset, then control machine human arm stops swinging to current oscillation direction.
In the present embodiment, robot has swingable arm, sets each with robot arm on robot arm
Swaying direction distinguishes corresponding avoidance detector.Put when based on actual demand control machine human arm when preceding to some swaying direction
When dynamic, avoidance detector corresponding with the current oscillation direction on robot arm can be constantly obtained at a time interval and is surveyed
Measured distance value between the barrier on robot arm and current oscillation direction obtained.When discovery, the measured distance value is less than
Or during equal to default avoidance distance threshold, control machine human arm stops swinging to current oscillation direction, to realize robot
Avoidance of the arm on current oscillation direction.
Fig. 3 is the flow chart of robot arm barrier-avoiding method embodiment two provided in an embodiment of the present invention, as shown in figure 3,
On the basis of embodiment illustrated in fig. 1, it can also comprise the following steps：
If step 201, the collision for receiving corresponding with current oscillation direction anti-collision structure triggering on robot arm refer to
Show signal, then control machine human arm stops swinging to current oscillation direction.
The present embodiment additionally provides a kind of be directed to when avoidance sensors work causes not prevent robot in advance extremely
Means are remedied when arm collides with the barrier in front of current oscillation direction.
Specifically, anti-collision structure corresponding with each swaying direction, the anti-collision structure can be set on robot arm
For a kind of Anti-bumping protection measure for the hardware in other words for providing physics.The anti-collision structure can be using conventional Anti-collision materials
It is made, and each anti-collision structure has corresponding switch, and the side of switch is connected with controller, so that, when anticollision knot
Structure due to barrier collision and trigger switch closure when, to controller triggering collision indication signal, to inform controller machine
Human arm is collided on which swaying direction with barrier.So as to, if controller have received on robot arm with
During the collision indication signal of the corresponding anti-collision structure triggering in current oscillation direction, control machine human arm stops to current oscillation side
To swing.
It is understood that being previously stored with the mark of anti-collision structure or switch pass corresponding with swaying direction in controller
The mark of corresponding anti-collision structure or switch can be carried in system, collision indication signal, determines it is which swings so as to controller
The anti-collision structure in direction is triggered.
With reference to the present embodiment, avoidance detector corresponding with each swaying direction and anticollision can be set on robot arm
Structure, to realize the reliably avoidance obstacle to robot arm by avoidance detector and anti-collision structure joint.
Fig. 4 is the structural representation of robot arm obstacle avoidance system embodiment one provided in an embodiment of the present invention, such as Fig. 4 institutes
Show, the system includes：
Swingable robot arm 1, is arranged on each swing with the robot arm 1 on the robot arm 1
Corresponding avoidance detector 11 is distinguished in direction, the motor 12 for driving the robot arm 1 to swing, and controller 13.
The avoidance detector 11, for detecting on correspondence swaying direction between the robot arm 1 and barrier
Measured distance value.
The controller 13, for according to the control to the current oscillation direction of the robot arm 1, obtain with it is described
The measured distance value of the corresponding avoidance detector 11 in current oscillation direction；If the measured distance value is less than or equal to default avoidance
Distance threshold, then by controlling the motor 12 to control the robot arm 1 to stop to the current oscillation direction
Swing.
Alternatively, the robot arm 1 includes swingable forearm and postbrachium, corresponding to keeping away on same swaying direction
Barrier detector 11 includes the first avoidance detector being arranged on the forearm and the second avoidance being arranged on postbrachium inspection
Survey device.
Alternatively, the first avoidance detector and the second avoidance detector are separately positioned on the forearm and described
The end side of postbrachium, the end side is corresponding to the maximum side of rotation path.
So as to, the controller 13 specifically for：Obtain the first avoidance detector corresponding with the current oscillation direction
The first measured distance value and the second avoidance detector the second measured distance value, if the first measured distance value or described
Second measured distance value is less than or equal to default avoidance distance threshold, then by controlling the motor 12 to control the machine
Device human arm 1 stops swinging to the current oscillation direction.
System shown in Figure 4 can perform the method for embodiment illustrated in fig. 1, and the part that the present embodiment is not described in detail can join
Examine the related description to embodiment illustrated in fig. 1.In implementation procedure and the technique effect embodiment shown in Figure 1 of the technical scheme
Description, will not be repeated here.
Fig. 5 is the structural representation of robot arm obstacle avoidance system embodiment two provided in an embodiment of the present invention, such as Fig. 5 institutes
Show, on the basis of embodiment illustrated in fig. 4, the system also includes：
Anticollision knot corresponding with each swaying direction difference of the robot arm 1 is arranged on the robot arm 1
Structure 14, the anti-collision structure 14 has corresponding switch 15, and one end of the switch 15 is connected with the motor 12.
The motor 12, if being closed for the switch for receiving anti-collision structure 14 corresponding with the current oscillation direction
The collision indication signal closed and triggered, then control the robot arm 1 to stop swinging to the current oscillation direction.
One end of above-mentioned switch 15 directly can be connected with motor 12, with allow motor directly control machine
Swing of the device human arm 1 in current oscillation direction.Certainly, one end of the switch 15 can also be connected with controller 13, by controlling
Device 13 control motor 12 come realize to robot arm 1 current oscillation direction swing.
System shown in Figure 5 can perform the method for embodiment illustrated in fig. 3, and the part that the present embodiment is not described in detail can join
Examine the related description to embodiment illustrated in fig. 3.In implementation procedure and the technique effect embodiment shown in Figure 3 of the technical scheme
Description, will not be repeated here.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
By adding the mode of required general hardware platform to realize, naturally it is also possible to come real by way of hardware and software is combined
It is existing.Understood based on such, the part that above-mentioned technical proposal substantially contributes to prior art in other words can be with calculating
The form of machine product is embodied, and the present invention can be used in one or more meters for wherein including computer usable program code
The computer journey that calculation machine usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that every one stream in flow chart and/or block diagram can be realized by computer program instructions
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and internal memory.
Internal memory potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology realizes information Store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, the information that can be accessed by a computing device available for storage.Define, calculate according to herein
Machine computer-readable recording medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or to which part technical characteristic progress equivalent；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (8)
1. a kind of robot arm barrier-avoiding method, it is characterised in that including：
According to the control in the current oscillation direction to robot arm, obtain on the robot arm with the current oscillation side
To the measured distance value of corresponding avoidance detector, what the measured distance value was represented is the robot arm and described current
The distance between barrier on swaying direction；
If the measured distance value is less than or equal to default avoidance distance threshold, the robot arm is controlled to stop to described
Current oscillation direction is swung.
2. according to the method described in claim 1, it is characterised in that the robot arm includes forearm and postbrachium, described to keep away
Barrier detector includes the first avoidance detector being arranged on the forearm and the second avoidance being arranged on postbrachium detection
Device；And, if the measured distance value is less than or equal to default avoidance distance threshold, control the robot arm to stop
Only swung to the current oscillation direction, including：
If the corresponding first measured distance value of the first avoidance detector or the second avoidance detector corresponding second
Measured distance value is less than or equal to default avoidance distance threshold, then controls the robot arm to stop to the current oscillation side
To swing.
3. according to the method described in claim 1, it is characterised in that methods described also includes：
If the collision for receiving anti-collision structure triggering corresponding with the current oscillation direction on the robot arm indicates letter
Number, then control the robot arm to stop swinging to the current oscillation direction.
4. a kind of robot arm obstacle avoidance system, it is characterised in that including：
Swingable robot arm, is arranged on each swaying direction on the robot arm with the robot arm and distinguishes
Corresponding avoidance detector, drives the motor of the robot arm swing, and controller；
The avoidance detector, for detect on correspondence swaying direction actual measurement between the robot arm and barrier away from
From value；
The controller, for the control according to the current oscillation direction to the robot arm, obtains and works as forward swing with described
The measured distance value of the dynamic corresponding avoidance detector in direction；If the measured distance value is less than or equal to default avoidance apart from threshold
Value, then by controlling the motor with control the robot arm stop to the current oscillation direction swing.
5. system according to claim 4, it is characterised in that the robot arm includes swingable forearm with after
Arm, the first avoidance detector and the setting for including being arranged on the forearm corresponding to the avoidance detector on same swaying direction
The second avoidance detector on arm in the rear.
6. system according to claim 5, it is characterised in that the first avoidance detector and second avoidance detection
Device is separately positioned on the end side of the forearm and the postbrachium, and the end side is corresponding to the maximum side of rotation path.
7. system according to claim 5, it is characterised in that the controller specifically for：
Obtain the first measured distance value and the detection of the second avoidance of the first avoidance detector corresponding with the current oscillation direction
Second measured distance value of device, if the first measured distance value or the second measured distance value are less than or equal to default keep away
Hinder distance threshold, then by controlling the motor with control the robot arm stop to the current oscillation direction put
It is dynamic.
8. the system according to any one of claim 4 to 7, it is characterised in that also include：
The corresponding anti-collision structure of each swaying direction difference with the robot arm on the robot arm is arranged on, it is described
Anti-collision structure has corresponding switch, and one end of the switch is connected with the motor；
The motor, if being triggered for receiving the switch closure of anti-collision structure corresponding with the current oscillation direction
Collision indication signal, then control the robot arm stop to the current oscillation direction swing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710391298.7A CN106956267A (en) | 2017-05-27 | 2017-05-27 | Robot arm barrier-avoiding method and system |
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| CN201710391298.7A CN106956267A (en) | 2017-05-27 | 2017-05-27 | Robot arm barrier-avoiding method and system |
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| CN108145716A (en) * | 2018-01-18 | 2018-06-12 | 北京镁伽机器人科技有限公司 | Articulated robot with automatic hold function and it is automatically stopped method |
| CN110026718A (en) * | 2019-05-21 | 2019-07-19 | 郑万众 | A kind of Intelligent welding robot arm with warning function |
| CN111070212A (en) * | 2020-01-06 | 2020-04-28 | 长沙中联恒通机械有限公司 | Vehicle-mounted manipulator control system and method |
| CN112717281A (en) * | 2021-01-14 | 2021-04-30 | 重庆翰恒医疗科技有限公司 | Medical robot platform and control method |
| CN115122334A (en) * | 2022-07-27 | 2022-09-30 | 中迪机器人(盐城)有限公司 | Control method and system for operating robot |
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