CN108068113A - 7-dof仿人臂飞行物体作业最小加速度轨迹优化 - Google Patents
7-dof仿人臂飞行物体作业最小加速度轨迹优化 Download PDFInfo
- Publication number
- CN108068113A CN108068113A CN201711119672.4A CN201711119672A CN108068113A CN 108068113 A CN108068113 A CN 108068113A CN 201711119672 A CN201711119672 A CN 201711119672A CN 108068113 A CN108068113 A CN 108068113A
- Authority
- CN
- China
- Prior art keywords
- arm
- joint
- apery
- track
- movement locus
- 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.)
- Granted
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
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711119672.4A CN108068113B (zh) | 2017-11-13 | 2017-11-13 | 7-dof仿人臂飞行物体作业最小加速度轨迹优化 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711119672.4A CN108068113B (zh) | 2017-11-13 | 2017-11-13 | 7-dof仿人臂飞行物体作业最小加速度轨迹优化 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108068113A true CN108068113A (zh) | 2018-05-25 |
CN108068113B CN108068113B (zh) | 2020-06-12 |
Family
ID=62159760
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711119672.4A Active CN108068113B (zh) | 2017-11-13 | 2017-11-13 | 7-dof仿人臂飞行物体作业最小加速度轨迹优化 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108068113B (zh) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109262612A (zh) * | 2018-10-09 | 2019-01-25 | 北京邮电大学 | 一种基于改进粒子群算法的欠驱动机械臂关节角寻优方法 |
CN109711527A (zh) * | 2018-12-25 | 2019-05-03 | 珞石(山东)智能科技有限公司 | 一种基于粒子群优化算法的机器人操纵方法 |
CN109866222A (zh) * | 2019-02-26 | 2019-06-11 | 杭州电子科技大学 | 一种基于天牛须优化策略的机械臂运动规划方法 |
CN111474949A (zh) * | 2020-01-14 | 2020-07-31 | 一飞智控(天津)科技有限公司 | 无人机集群飞行可行路径轨迹规划方法、无人机群及介质 |
CN112157661A (zh) * | 2020-12-02 | 2021-01-01 | 成都卡诺普自动化控制技术有限公司 | 一种基于机器人动力学的关节运动轨迹优化方法 |
CN113156925A (zh) * | 2020-01-07 | 2021-07-23 | 四川省桑瑞光辉标识***股份有限公司 | 一种基于对抗网络的双足机器人行走控制方法及电子设备 |
CN113435025A (zh) * | 2021-06-22 | 2021-09-24 | 同济大学 | 一种结合多级优化模型的机器人高性能轨迹自动生成方法 |
US20230101489A1 (en) * | 2021-09-27 | 2023-03-30 | Ubtech Robotics Corp Ltd | Redundant robot joint acceleration planning method, redundant robot using the same, and computer readable storage medium |
CN115958596A (zh) * | 2022-12-05 | 2023-04-14 | 广州工程技术职业学院 | 双冗余机械臂运动规划方法及装置、设备、存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010099521A1 (en) * | 2009-02-27 | 2010-09-02 | Bell Helicopter Textron Inc. | System and method for vibration control in a rotorcraft using an adaptive reference model algorithm |
CN105159096A (zh) * | 2015-10-10 | 2015-12-16 | 北京邮电大学 | 一种基于粒子群算法的冗余度空间机械臂关节力矩优化方法 |
CN106064377A (zh) * | 2016-06-02 | 2016-11-02 | 西北工业大学 | 一种空间机器人动力学参数辨识的激励轨迹优化方法 |
CN107160396A (zh) * | 2017-06-09 | 2017-09-15 | 杭州新松机器人自动化有限公司 | 一种基于轨迹优化的机器人振动控制器及方法 |
-
2017
- 2017-11-13 CN CN201711119672.4A patent/CN108068113B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010099521A1 (en) * | 2009-02-27 | 2010-09-02 | Bell Helicopter Textron Inc. | System and method for vibration control in a rotorcraft using an adaptive reference model algorithm |
CN105159096A (zh) * | 2015-10-10 | 2015-12-16 | 北京邮电大学 | 一种基于粒子群算法的冗余度空间机械臂关节力矩优化方法 |
CN106064377A (zh) * | 2016-06-02 | 2016-11-02 | 西北工业大学 | 一种空间机器人动力学参数辨识的激励轨迹优化方法 |
CN107160396A (zh) * | 2017-06-09 | 2017-09-15 | 杭州新松机器人自动化有限公司 | 一种基于轨迹优化的机器人振动控制器及方法 |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109262612A (zh) * | 2018-10-09 | 2019-01-25 | 北京邮电大学 | 一种基于改进粒子群算法的欠驱动机械臂关节角寻优方法 |
CN109711527A (zh) * | 2018-12-25 | 2019-05-03 | 珞石(山东)智能科技有限公司 | 一种基于粒子群优化算法的机器人操纵方法 |
CN109866222A (zh) * | 2019-02-26 | 2019-06-11 | 杭州电子科技大学 | 一种基于天牛须优化策略的机械臂运动规划方法 |
CN113156925A (zh) * | 2020-01-07 | 2021-07-23 | 四川省桑瑞光辉标识***股份有限公司 | 一种基于对抗网络的双足机器人行走控制方法及电子设备 |
CN113156925B (zh) * | 2020-01-07 | 2022-11-29 | 四川省桑瑞光辉标识***股份有限公司 | 一种基于对抗网络的双足机器人行走控制方法及电子设备 |
CN111474949A (zh) * | 2020-01-14 | 2020-07-31 | 一飞智控(天津)科技有限公司 | 无人机集群飞行可行路径轨迹规划方法、无人机群及介质 |
CN111474949B (zh) * | 2020-01-14 | 2023-12-26 | 一飞智控(天津)科技有限公司 | 无人机集群飞行可行路径轨迹规划方法、无人机群及介质 |
CN112157661B (zh) * | 2020-12-02 | 2021-03-05 | 成都卡诺普自动化控制技术有限公司 | 一种基于机器人动力学的关节运动轨迹优化方法 |
CN112157661A (zh) * | 2020-12-02 | 2021-01-01 | 成都卡诺普自动化控制技术有限公司 | 一种基于机器人动力学的关节运动轨迹优化方法 |
CN113435025A (zh) * | 2021-06-22 | 2021-09-24 | 同济大学 | 一种结合多级优化模型的机器人高性能轨迹自动生成方法 |
CN113435025B (zh) * | 2021-06-22 | 2023-04-07 | 同济大学 | 一种结合多级优化模型的机器人高性能轨迹自动生成方法 |
US20230101489A1 (en) * | 2021-09-27 | 2023-03-30 | Ubtech Robotics Corp Ltd | Redundant robot joint acceleration planning method, redundant robot using the same, and computer readable storage medium |
US11992946B2 (en) * | 2021-09-27 | 2024-05-28 | Ubkang (Qingdao) Technology Co., Ltd. | Redundant robot joint acceleration planning method, redundant robot using the same, and computer readable storage medium |
CN115958596A (zh) * | 2022-12-05 | 2023-04-14 | 广州工程技术职业学院 | 双冗余机械臂运动规划方法及装置、设备、存储介质 |
CN115958596B (zh) * | 2022-12-05 | 2023-09-29 | 广州工程技术职业学院 | 双冗余机械臂运动规划方法及装置、设备、存储介质 |
Also Published As
Publication number | Publication date |
---|---|
CN108068113B (zh) | 2020-06-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108068113A (zh) | 7-dof仿人臂飞行物体作业最小加速度轨迹优化 | |
CN107490965B (zh) | 一种空间自由漂浮机械臂的多约束轨迹规划方法 | |
CN108241339B (zh) | 仿人机械臂的运动求解和构型控制方法 | |
Wen et al. | Elman fuzzy adaptive control for obstacle avoidance of mobile robots using hybrid force/position incorporation | |
CN105138000A (zh) | 最优化基座位姿扰动的七自由度空间机械臂轨迹规划方法 | |
CN111538949A (zh) | 冗余机器人逆运动学求解方法、装置和冗余机器人 | |
Liao et al. | Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators | |
CN109901397B (zh) | 一种使用粒子群优化算法的机械臂逆运动学方法 | |
CN111923039B (zh) | 一种基于强化学习的冗余机械臂路径规划方法 | |
CN109676610B (zh) | 一种断路器装配机器人及其实现工作轨迹优化的方法 | |
KR20160070006A (ko) | 간섭 회피 방법, 제어 장치 및 프로그램 | |
CN102509025A (zh) | 一种六自由度仿人灵巧臂逆运动学的快速求解方法 | |
CN107160401B (zh) | 一种解决冗余度机械臂关节角偏移问题的方法 | |
CN104760041A (zh) | 一种基于突加度的障碍物躲避运动规划方法 | |
KR102030141B1 (ko) | 로봇의 팔꿈치 제어시스템 및 그 제어방법 | |
CN108638068A (zh) | 一种携带冗余度机械臂的飞行机器人控制***设计方法 | |
CN105988366A (zh) | 一种空间机器人最小基座扰动轨迹规划方法 | |
Zhang et al. | Nonholonomic motion planning for minimizing base disturbances of space manipulators based on multi-swarm PSO | |
Cheng et al. | Optimal design of a parallel bionic eye mechanism | |
He et al. | Dynamic obstacle avoidance planning for manipulators of home | |
Li et al. | A specialized particle swarm optimization for global path planning of mobile robots | |
Liu et al. | Research on obstacle avoidance of space manipulators based on cylindrical bounding box model | |
CN114967459A (zh) | 一种机械臂时间收敛性的控制方法及其7 dof机械臂 | |
Ying et al. | A repeatable motion scheme for kinematic control of redundant manipulators | |
Zhang et al. | A weighted damping coefficient based manipulability maximizing scheme for coordinated motion planning of wheeled mobile manipulators |
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 | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210518 Address after: 1 / F, building B1, Dongfang Chuangzhi garden, 18 JinFang Road, Suzhou Industrial Park, 215000, Jiangsu Province Patentee after: Suzhou Jiuwu Interchange Intelligent Technology Co.,Ltd. Address before: 215000 8 Ji Xue Road, Xiangcheng District, Suzhou, Jiangsu. Patentee before: SOOCHOW University |
|
TR01 | Transfer of patent right | ||
CP03 | Change of name, title or address |
Address after: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Jiuwu interworking Intelligent Technology Co.,Ltd. Address before: 1 / F, building B1, Dongfang Chuangzhi garden, 18 JinFang Road, Suzhou Industrial Park, 215000, Jiangsu Province Patentee before: Suzhou Jiuwu Interchange Intelligent Technology Co.,Ltd. |
|
CP03 | Change of name, title or address | ||
CP01 | Change in the name or title of a patent holder |
Address after: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Jiuwu Intelligent Technology Co.,Ltd. Address before: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: Suzhou Jiuwu interworking Intelligent Technology Co.,Ltd. |
|
CP01 | Change in the name or title of a patent holder |