CN110312979A - 多关节机构标定的方法、装置和计算机*** - Google Patents

多关节机构标定的方法、装置和计算机*** Download PDF

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Publication number
CN110312979A
CN110312979A CN201880012525.3A CN201880012525A CN110312979A CN 110312979 A CN110312979 A CN 110312979A CN 201880012525 A CN201880012525 A CN 201880012525A CN 110312979 A CN110312979 A CN 110312979A
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mth
angle
mth joint
attitude
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张富
刘思琪
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

一种多关节机构标定的方法、装置和计算机***。该多关节机构包括n个关节，该方法包括：单独旋转该多关节机构的第m个关节，其中，该第m个关节处设置有角度反馈元件，该角度反馈元件用于测量该第m个关节的关节角，且n和m均为正整数，1≤m≤n；获取旋转该第m个关节前后该第m个关节的关节角，并获取旋转该第m个关节前后该多关节机构的输出端的姿态；根据旋转该第m个关节前后该第m个关节的关节角和该输出端的姿态，对该第m个关节处的该角度反馈元件的关节角非线性和该第m个关节的转轴的轴向方向进行标定。

Description

PCT国内申请，说明书已公开。

Claims (25)

  1. PCT国内申请，权利要求书已公开。
CN201880012525.3A 2018-02-01 2018-02-01 多关节机构标定的方法、装置和计算机*** Pending CN110312979A (zh)

Applications Claiming Priority (1)

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PCT/CN2018/074977 WO2019148431A1 (zh) 2018-02-01 2018-02-01 多关节机构标定的方法、装置和计算机***

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CN110312979A true CN110312979A (zh) 2019-10-08

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WO (1) WO2019148431A1 (zh)

Families Citing this family (1)

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Publication number Priority date Publication date Assignee Title
CN113524262A (zh) * 2021-08-20 2021-10-22 太仓中科信息技术研究院 摄像机器人虚实融合精度优化装置和方法

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DE2603212A1 (de) * 1975-02-14 1976-08-26 Walker Magnetics Group Inc Kraftflussmessgeraet
WO2010114915A2 (en) * 2009-04-03 2010-10-07 The Regents Of The University Of Michigan Office Of Technology Transfer Heading error removal system for tracking devices
CN102022989A (zh) * 2010-09-29 2011-04-20 山东科技大学 一种基于指数积模型的机器人标定方法
CN104655167A (zh) * 2013-11-20 2015-05-27 北京信息科技大学 关节式坐标测量机的角度编码器偏心及结构参数标定方法
CN107639635A (zh) * 2017-09-30 2018-01-30 杨聚庆 一种机械臂位姿误差标定方法及***

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Publication number Priority date Publication date Assignee Title
CN106953553A (zh) * 2017-03-12 2017-07-14 纳恩博（北京）科技有限公司 一种云台、及云台电机的控制方法和装置
CN107351089B (zh) * 2017-09-12 2019-08-27 中国科学技术大学 一种机器人运动学参数标定位姿优化选取方法
CN107553493A (zh) * 2017-09-22 2018-01-09 东南大学 一种基于拉绳位移传感器的机器人运动学参数标定方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2603212A1 (de) * 1975-02-14 1976-08-26 Walker Magnetics Group Inc Kraftflussmessgeraet
WO2010114915A2 (en) * 2009-04-03 2010-10-07 The Regents Of The University Of Michigan Office Of Technology Transfer Heading error removal system for tracking devices
CN102022989A (zh) * 2010-09-29 2011-04-20 山东科技大学 一种基于指数积模型的机器人标定方法
CN104655167A (zh) * 2013-11-20 2015-05-27 北京信息科技大学 关节式坐标测量机的角度编码器偏心及结构参数标定方法
CN107639635A (zh) * 2017-09-30 2018-01-30 杨聚庆 一种机械臂位姿误差标定方法及***

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
董慧颖等: "一种基于平面精度的机器人标定方法及仿真", 《中国机械工程》 *
赵桂玲: "《光学陀螺捷联惯性导航***标定技术》", 31 December 2014 *
高文斌等: "基于距离误差的机器人运动学参数标定方法", 《机器人》 *

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Application publication date: 20191008