CN114341823A - 用于控制多轴运动机器的方法、装置和存储介质 - Google Patents

用于控制多轴运动机器的方法、装置和存储介质 Download PDF

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Publication number
CN114341823A
CN114341823A CN201980100024.5A CN201980100024A CN114341823A CN 114341823 A CN114341823 A CN 114341823A CN 201980100024 A CN201980100024 A CN 201980100024A CN 114341823 A CN114341823 A CN 114341823A
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motion control
target object
control mode
end effector
axis motion
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王子健
范顺杰
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Siemens AG
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Siemens AG
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G06F13/10—Program control for peripheral devices

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

一种用于控制多轴运动机器的多轴运动控制方法，所述方法包括：接收任务级指令；将任务级指令分解为多个子任务，所述多个子任务包括环境监测子任务，在环境监测子任务中，感测并确定多轴运动机器周围的环境信息；规划运动轨迹，根据在环境监测子任务中得到的环境信息规划多轴运动机器的端部操作器的运动轨迹；所述多个子任务还包括：运动控制子任务，根据在环境监测子任务中得到的环境信息确定用于控制端部操作器的运动控制模式；运动控制模式切换子任务，将当前的运动控制模式切换成在运动控制子任务中确定的运动控制模式并调整对应的控制参数。

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PCT国内申请，说明书已公开。

Claims (21)

  1. PCT国内申请，权利要求书已公开。
CN201980100024.5A 2019-09-29 2019-09-29 用于控制多轴运动机器的方法、装置和存储介质 Pending CN114341823A (zh)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102292194A (zh) * 2009-08-21 2011-12-21 松下电器产业株式会社 机器人手臂的控制装置及控制方法、装配机器人、机器人手臂的控制程序及机器人手臂的控制用集成电路
CN102300679A (zh) * 2009-09-28 2011-12-28 松下电器产业株式会社 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序及机器人手臂控制用集成电路
CN104731642A (zh) * 2013-12-23 2015-06-24 国际商业机器公司 用于高度并行作业的回填调度方法和***

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101870107B (zh) * 2010-06-26 2011-08-31 上海交通大学 骨科手术辅助机器人的控制***
CN105599821B (zh) * 2016-01-06 2019-03-01 山东优宝特智能机器人有限公司 具有环境感知能力的电驱动仿生四足机器人及控制方法
CN108536011A (zh) * 2018-03-19 2018-09-14 中山大学 一种基于深度强化学习的六足机器人复杂地形自适应运动控制方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102292194A (zh) * 2009-08-21 2011-12-21 松下电器产业株式会社 机器人手臂的控制装置及控制方法、装配机器人、机器人手臂的控制程序及机器人手臂的控制用集成电路
CN102300679A (zh) * 2009-09-28 2011-12-28 松下电器产业株式会社 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序及机器人手臂控制用集成电路
CN104731642A (zh) * 2013-12-23 2015-06-24 国际商业机器公司 用于高度并行作业的回填调度方法和***

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