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 PDFInfo
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- 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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- 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
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- 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)
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- 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)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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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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CN201880012525.3A Pending CN110312979A (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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CN (1) | CN110312979A (zh) |
WO (1) | WO2019148431A1 (zh) |
Families Citing this family (1)
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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 |
Citations (5)
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*** |
Family Cites Families (3)
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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2018
- 2018-02-01 WO PCT/CN2018/074977 patent/WO2019148431A1/zh active Application Filing
- 2018-02-01 CN CN201880012525.3A patent/CN110312979A/zh active Pending
Patent Citations (5)
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)
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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WO2019148431A1 (zh) | 2019-08-08 |
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Application publication date: 20191008 |