CN108326839B - 七自由度机器人 - Google Patents
七自由度机器人 Download PDFInfo
- Publication number
- CN108326839B CN108326839B CN201810432730.7A CN201810432730A CN108326839B CN 108326839 B CN108326839 B CN 108326839B CN 201810432730 A CN201810432730 A CN 201810432730A CN 108326839 B CN108326839 B CN 108326839B
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- China
- Prior art keywords
- joint
- wrist
- rotation plane
- arm
- probe
- Prior art date
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Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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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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- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810432730.7A CN108326839B (zh) | 2018-05-08 | 2018-05-08 | 七自由度机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810432730.7A CN108326839B (zh) | 2018-05-08 | 2018-05-08 | 七自由度机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108326839A CN108326839A (zh) | 2018-07-27 |
CN108326839B true CN108326839B (zh) | 2020-06-23 |
Family
ID=62934579
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810432730.7A Active CN108326839B (zh) | 2018-05-08 | 2018-05-08 | 七自由度机器人 |
Country Status (1)
Country | Link |
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CN (1) | CN108326839B (zh) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109048986A (zh) * | 2018-08-27 | 2018-12-21 | 徐州天能矿山机械有限责任公司 | 一种机械臂矿山机械 |
CN108942894B (zh) * | 2018-09-05 | 2020-12-22 | 燕山大学 | 串联九自由度喷涂机器人 |
CN109531533B (zh) * | 2018-11-30 | 2019-11-05 | 北京海益同展信息科技有限公司 | 一种机房巡检***及其工作方法 |
CN109927022B (zh) * | 2019-04-09 | 2021-05-28 | 合肥伟达智能科技有限公司 | 一种精密定位的多关节机械臂及其调节方法 |
US11607804B2 (en) * | 2019-05-28 | 2023-03-21 | X Development Llc | Robot configuration with three-dimensional lidar |
CN110154080B (zh) * | 2019-06-21 | 2024-02-13 | 中车青岛四方车辆研究所有限公司 | 关节驱动模块、七轴机械臂及机器人 |
CN110861093B (zh) * | 2019-12-06 | 2021-03-12 | 潍坊学院 | 一种并联机械臂智能5g导航避障*** |
CN113977629B (zh) * | 2021-09-22 | 2023-05-30 | 安徽元古纪智能科技有限公司 | 一种五轴机械臂 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN202146362U (zh) * | 2010-12-30 | 2012-02-22 | 上海交通大学医学院附属第九人民医院 | 一种基于光学导航七自由度颅颌面手术辅助机械臂 |
CN102837322B (zh) * | 2012-09-26 | 2015-04-15 | 黄刚 | 一种仿人型七自由度机械臂 |
US9862090B2 (en) * | 2014-07-25 | 2018-01-09 | California Institute Of Technology | Surrogate: a body-dexterous mobile manipulation robot with a tracked base |
CN106647819B (zh) * | 2016-11-22 | 2020-01-31 | 中车青岛四方车辆研究所有限公司 | 移动式图像采集装置及高速列车一级检修智能辅助*** |
CN107932481A (zh) * | 2017-12-04 | 2018-04-20 | 湖南瑞森可机器人科技有限公司 | 一种复合机器人及其控制方法 |
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2018
- 2018-05-08 CN CN201810432730.7A patent/CN108326839B/zh active Active
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SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Li Guoping Inventor after: Wang Yong Inventor after: Lanhongcai Inventor after: Li Shishuang Inventor after: Zhang Xingtian Inventor after: Li Mingyang Inventor after: Ding Hui Inventor after: Wang Minghai Inventor after: Li Tong Inventor before: Wang Yong Inventor before: Lanhongcai Inventor before: Li Shishuang Inventor before: Zhang Xingtian Inventor before: Li Mingyang Inventor before: Ding Hui Inventor before: Wang Minghai Inventor before: Li Tong |
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