CN112959325B - 一种大场景下的双移动机械臂协同加工高精度控制方法 - Google Patents
一种大场景下的双移动机械臂协同加工高精度控制方法 Download PDFInfo
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- CN112959325B CN112959325B CN202110307925.0A CN202110307925A CN112959325B CN 112959325 B CN112959325 B CN 112959325B CN 202110307925 A CN202110307925 A CN 202110307925A CN 112959325 B CN112959325 B CN 112959325B
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114310877B (zh) * | 2021-03-09 | 2024-05-07 | 香港科能有限公司 | 机器人协同***及其应用和加工精度评价方法 |
CN113524183B (zh) * | 2021-07-14 | 2023-01-24 | 广东智源机器人科技有限公司 | 相对位置获得方法、机械臂控制方法以及机械臂*** |
CN113334393B (zh) * | 2021-08-06 | 2021-11-16 | 成都博恩思医学机器人有限公司 | 一种机械臂控制方法、***、机器人及存储介质 |
CN114161399B (zh) * | 2021-12-20 | 2023-08-18 | 大连理工大学 | 一种六自由度机械臂笛卡尔空间运动目标实时跟踪控制方法 |
CN114227385B (zh) * | 2021-12-22 | 2023-03-31 | 枣庄北航机床创新研究院有限公司 | 一种分布式加工*** |
CN114634150B (zh) * | 2022-03-08 | 2023-05-30 | 北京邮电大学 | 一种基于激光位置传感器的鹤管自动对位*** |
CN114516055B (zh) * | 2022-04-07 | 2023-06-06 | 北京信息科技大学 | 基于双目视觉和深度学习的机械臂不停工实时标定方法及装置 |
CN114798873B (zh) * | 2022-04-26 | 2023-03-07 | 广州蓝方自动化设备有限公司 | 一种用于管接头高速冲压成型工艺及其一体化设备 |
CN114905511B (zh) * | 2022-05-12 | 2023-08-11 | 南京航空航天大学 | 一种工业机器人装配误差检测与精度补偿***标定方法 |
CN115008455B (zh) * | 2022-06-07 | 2023-06-02 | 南京航空航天大学 | 一种高频非线性扰动的机械臂多尺度空间滑模控制方法 |
CN115533896B (zh) * | 2022-09-20 | 2023-10-03 | 南方电网电力科技股份有限公司 | 一种递推式的机器人双臂协同作业路径规划方法 |
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CN108838991B (zh) * | 2018-03-06 | 2022-03-25 | 南昌工程学院 | 一种自主类人双臂机器人及其对运动目标的跟踪操作*** |
CN108656111B (zh) * | 2018-05-15 | 2020-12-01 | 浙江工业大学 | 双机械臂***有限时间参数辨识与位置同步控制方法 |
CN109606753B (zh) * | 2018-11-11 | 2022-03-29 | 上海宇航***工程研究所 | 一种空间双臂机器人协同抓捕目标的控制方法 |
CN109807902B (zh) * | 2019-04-08 | 2020-12-08 | 青岛大学 | 一种基于反步法的双机械臂力/位模糊混合控制方法 |
CN112241124B (zh) * | 2020-10-27 | 2022-02-11 | 南昌大学 | 一种自适应反演积分非奇异快速终端滑模控制器设计方法 |
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Inventor after: Liao Wenhe Inventor after: Tian Wei Inventor after: Bai Quan Inventor after: Li Pengcheng Inventor after: Li Bo Inventor after: Wei Song Inventor after: Li Mingyu Inventor after: Wei Delan Inventor after: Zhao Boyu Inventor before: Tian Wei Inventor before: Bai Quan Inventor before: Li Pengcheng Inventor before: Li Bo Inventor before: Liao Wenhe Inventor before: Wei Song Inventor before: Li Mingyu Inventor before: Wei Delan Inventor before: Zhao Boyu |
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