CN113910247B - 考虑关节间隙演化的工业机器人末端轨迹控制方法及*** - Google Patents
考虑关节间隙演化的工业机器人末端轨迹控制方法及*** Download PDFInfo
- Publication number
- CN113910247B CN113910247B CN202111408362.0A CN202111408362A CN113910247B CN 113910247 B CN113910247 B CN 113910247B CN 202111408362 A CN202111408362 A CN 202111408362A CN 113910247 B CN113910247 B CN 113910247B
- Authority
- CN
- China
- Prior art keywords
- industrial robot
- arm
- error
- mechanical arm
- determining
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000005381 potential energy Methods 0.000 claims description 14
- 239000013598 vector Substances 0.000 claims description 14
- 230000005484 gravity Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000013341 scale-up Methods 0.000 description 1
- 238000010206 sensitivity analysis Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Images
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
- B25J9/1656—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
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111408362.0A CN113910247B (zh) | 2021-11-19 | 2021-11-19 | 考虑关节间隙演化的工业机器人末端轨迹控制方法及*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111408362.0A CN113910247B (zh) | 2021-11-19 | 2021-11-19 | 考虑关节间隙演化的工业机器人末端轨迹控制方法及*** |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113910247A CN113910247A (zh) | 2022-01-11 |
CN113910247B true CN113910247B (zh) | 2023-01-06 |
Family
ID=79248164
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202111408362.0A Active CN113910247B (zh) | 2021-11-19 | 2021-11-19 | 考虑关节间隙演化的工业机器人末端轨迹控制方法及*** |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113910247B (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114888828A (zh) * | 2022-04-26 | 2022-08-12 | 佛山科学技术学院 | 基于蚁群优化的scara机器人实验装置与控制方法 |
CN115256465A (zh) * | 2022-07-29 | 2022-11-01 | 江苏航鼎智能装备有限公司 | 一种消除工业机器人齿轮传动中反向间隙的方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6411944B1 (en) * | 1997-03-21 | 2002-06-25 | Yamaha Hatsudoki Kabushiki Kaisha | Self-organizing control system |
CN1650664A (zh) * | 2002-04-26 | 2005-08-03 | 汤姆森许可公司 | 用于松散耦合互操作的基于证书的认证授权计费方案 |
US7383235B1 (en) * | 2000-03-09 | 2008-06-03 | Stmicroelectronic S.R.L. | Method and hardware architecture for controlling a process or for processing data based on quantum soft computing |
CN111950757A (zh) * | 2019-05-17 | 2020-11-17 | 湖南科技大学 | 旋转机械关键零部件退化状态趋势预测方法 |
-
2021
- 2021-11-19 CN CN202111408362.0A patent/CN113910247B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6411944B1 (en) * | 1997-03-21 | 2002-06-25 | Yamaha Hatsudoki Kabushiki Kaisha | Self-organizing control system |
US7383235B1 (en) * | 2000-03-09 | 2008-06-03 | Stmicroelectronic S.R.L. | Method and hardware architecture for controlling a process or for processing data based on quantum soft computing |
CN1650664A (zh) * | 2002-04-26 | 2005-08-03 | 汤姆森许可公司 | 用于松散耦合互操作的基于证书的认证授权计费方案 |
CN111950757A (zh) * | 2019-05-17 | 2020-11-17 | 湖南科技大学 | 旋转机械关键零部件退化状态趋势预测方法 |
Also Published As
Publication number | Publication date |
---|---|
CN113910247A (zh) | 2022-01-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113910247B (zh) | 考虑关节间隙演化的工业机器人末端轨迹控制方法及*** | |
US11484982B2 (en) | Online CNC machine tool geometric/thermal error measurement and compensation system | |
CN107081787B (zh) | 基于工业机器人内置传感器信号的运动特性检测方法 | |
US10987813B1 (en) | Sensor fusion | |
CN106041926A (zh) | 一种基于卡尔曼滤波器的工业机械臂力/位置混合控制方法 | |
An et al. | Experimental determination of the effect of feedforward control on trajectory tracking errors | |
Pagilla et al. | A stable transition controller for constrained robots | |
CN112276944A (zh) | 一种基于意图识别的人机协作***控制方法 | |
CN104057290A (zh) | 一种基于视觉和力反馈控制的机器人装配方法与*** | |
CN111037542B (zh) | 一种逆动力学控制机器人直线加工的轨迹误差补偿方法 | |
CN110561438A (zh) | 基于动力学参数辨识的工业机器人力/位柔顺控制方法 | |
CN110815190A (zh) | 一种工业机器人拖动示教方法及*** | |
CN111300406A (zh) | 基于运动学分析的工业机器人轨迹精度补偿***和方法 | |
CN110549333B (zh) | 一种用于TriMule卧式混联机器人的重力补偿方法 | |
Lu et al. | Experimental determination of dynamic parameters of robotic arms | |
CN112179551B (zh) | 机器人的关节电机转矩系数与摩擦力同步测试方法和装置 | |
Yang et al. | A geometric method for kinematics of delta robot and its path tracking control | |
US11685049B2 (en) | Robot localization using variance sampling | |
CN114952838A (zh) | 一种基于末端测量反馈的机械臂关节轨迹规划方法 | |
CN112872435B (zh) | 一种ac型双摆头五轴联动机床多轴伺服匹配方法及装置 | |
WO2017175340A1 (ja) | 最適化装置及びそれを備えた垂直型多関節ロボット | |
CN112975960B (zh) | 一种机器人末端精细控制模型的建立与参数校准方法 | |
CN114833828B (zh) | 二自由度***的惯性参数辨识方法、设备和介质 | |
CN113400300B (zh) | 用于机器人末端的伺服***及其控制方法 | |
TWI842460B (zh) | 應用元神經感測裝置測量精密對位平台動態系統及其方法 |
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 | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20220111 Assignee: Guangdong chuangpu Technology Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980037261 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20230630 |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20220111 Assignee: Chongqing Fangding Technology Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980040439 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20230828 |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20220111 Assignee: Guangzhou Shangqing Intelligent Technology Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980043903 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231019 Application publication date: 20220111 Assignee: Guangzhou Ruijie Intelligent Technology Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980043900 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231019 Application publication date: 20220111 Assignee: Guangzhou Daguan Digital Technology Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980043899 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231019 Application publication date: 20220111 Assignee: Guangzhou nuobi Electronic Technology Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980043898 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231019 Application publication date: 20220111 Assignee: Changhong (Guangzhou) Information Technology Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980043906 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231019 Application publication date: 20220111 Assignee: Guangzhou xuzhuo Technology Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980043904 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231019 |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20220111 Assignee: GUANGZHOU ZHENGSHUN MACHINERY TECHNOLOGY DEVELOPMENT Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980044818 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231027 Application publication date: 20220111 Assignee: GUANGZHOU JUMING AUTOMATIC CONTROL TECHNOLOGY CO.,LTD. Assignor: FOSHAN University Contract record no.: X2023980044813 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231027 Application publication date: 20220111 Assignee: GUANGZHOU GUOCHUANG TECHNOLOGY Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980044811 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231027 Application publication date: 20220111 Assignee: Guangzhou Xunbao automation machinery design Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980044810 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231027 Application publication date: 20220111 Assignee: GUANGZHOU SHUXUN AUTOMATION EQUIPMENT Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980044806 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231027 Application publication date: 20220111 Assignee: GUANGZHOU SHANGRU AUTOMATIC CONTROL SYSTEM ENGINEERING CO.,LTD. Assignor: FOSHAN University Contract record no.: X2023980044804 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231027 |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20220111 Assignee: Guangxi ronghua Ship Technology Co.,Ltd. Assignor: FOSHAN University Contract record no.: X2023980053989 Denomination of invention: End trajectory control method and system for industrial robots considering joint clearance evolution Granted publication date: 20230106 License type: Common License Record date: 20231226 |