首页> 外国专利> Elastic-deformation-compensation control device and control method for articulated robot

Elastic-deformation-compensation control device and control method for articulated robot

机译：多关节机器人的弹性变形补偿控制装置及控制方法

页面导航

摘要
著录项
相似文献

摘要

In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (θmc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (θmd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).

机译：在弹性变形补偿控制装置（ 10 ）中，第一动态特性计算单元（ 300 ）对电动机角度指令值（θmc）进行滤波处理。）从电机角度指令值计算单元（ 600 ）输出，并输出处理后的电机角度目标值（θmd）。第二动态特性计算单元（ 400 ）具有截止频率低于第一动态特性计算单元（ 300 ）的高频截止特性。），对来自轴向力扭矩计算单元（ 200 ）的输出进行滤波处理，并输出处理后的轴向力扭矩补偿值（fd）。 展开▼

著录项

公开/公告号US9505131B2

专利类型

公开/公告日2016-11-29

原文格式PDF

申请/专利权人 KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL LTD.);
展开▼

申请/专利号US201314403320

发明设计人 YOSHIHARU NISHIDA;TAKASHI WADA;YOSHIHIDE INOUE;SHUICHI INADA;
展开▼

申请日2013-05-30

分类号B25J9/16;B23K9/02;B25J9/06;

国家 US

入库时间 2022-08-21 13:41:29

相似文献

专利

外文文献

中文文献

1. 多关节机器人的弹性变形补偿控制装置以及控制方法 [P] . 中国专利： CN104349873B . 2015.11.25

2. 多关节机器人的弹性变形补偿控制装置以及控制方法 [P] . 中国专利： CN104349873A . 2015-02-11

3. ELASTIC-DEFORMATION-COMPENSATION CONTROL DEVICE FOR ARTICULATED ROBOT, AND CONTROL METHOD [P] . 欧洲知识产权局专利： EP2857151B1 . 2017-07-05

机译：旋转机器人的弹性变形补偿控制装置及控制方法

4. ELASTIC-DEFORMATION-COMPENSATION CONTROL DEVICE FOR ARTICULATED ROBOT AND CONTROL METHOD [P] . 韩国专利： KR101612218B1 . 2016-04-12

机译：旋转机器人的弹性变形补偿控制装置及控制方法

5. ELASTIC-DEFORMATION-COMPENSATION CONTROL DEVICE FOR ARTICULATED ROBOT, AND CONTROL METHOD [P] . 欧洲知识产权局专利： EP2857151A4 . 2016-07-20

机译：旋转机器人的弹性变形补偿控制装置及控制方法

1. Modeling Open Software Architectures of Robot Controllers: A Brief Survey of Modeling Methods and Developing Methods [J] . 高技术通讯（英文版） . 2002,第004期

2. Hybrid event based control architecture for tele-robotic systems controlled through Internet [J] . 李晓明, 杨灿军, 陈鹰, 浙江大学学报（英文版）（A辑：应用物理和工程） . 2004,第003期

3. Particle swarm optimization-based algorithm of a symplectic method for robotic dynamics and control [J] . Zhaoyue XU, Lin DU, Haopeng WANG, 应用数学和力学（英文版） . 2019,第001期

4. Robust Adaptive Control for Robotic Systems With Input Time-Varying Delay Using Hamiltonian Method [J] . Yong Ren, Weiwei Sun 自动化学报（英文版） . 2018,第004期

5. Agency Reviews Patent Application Approval Request for "Robot System, Robot Control Device and Method for Controlling Robot" [J] . Robotics and Machine Learning . 2013,第9期

6. "Articulated Arm Robot, Control Method and Control Program" in Patent Application Approval Process [J] . Robotics and Machine Learning . 2013,第9期

7. "Horizontal Articulated Robot, and Method of Controlling the Same" in Patent Application Approval Process [J] . Robotics and Machine Learning . 2012,第37期

8. A Method Based on Wearable Devices for Controlling Teaching of Robots for Human-robot Collaboration [C] . Yong Tao, Zengliang Fang, Fan Ren, Chinese Automation Congress . 2018

9. Access to Math Activities for Children with Disabilities by Controlling Lego Robots via Augmentative and Alternative Communication Devices [D] . Adams, Kimberley Dawn 2011

10. Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots [O] . Wesley Roozing 2018

11. Volume 2, Issue 3, Special issue on Recent Advances in Engineering Systems (Published Papers) Articles Transmit / Received Beamforming for Frequency Diverse Array with Symmetrical frequency offsets Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 1-6 (2017); View Description Detailed Analysis of Amplitude and Slope Diffraction Coefficients for knife-edge structure in S-UTD-CH Model Eray Arik, Mehmet Baris Tabakcioglu Adv. Sci. Technol. Eng. Syst. J. 2(3), 7-11 (2017); View Description Applications of Case Based Organizational Memory Supported by the PAbMM Architecture Martín, María de los Ángeles, Diván, Mario José Adv. Sci. Technol. Eng. Syst. J. 2(3), 12-23 (2017); View Description Low Probability of Interception Beampattern Using Frequency Diverse Array Antenna Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 24-29 (2017); View Description Zero Trust Cloud Networks using Transport Access Control and High Availability Optical Bypass Switching Casimer DeCusatis, Piradon Liengtiraphan, Anthony Sager Adv. Sci. Technol. Eng. Syst. J. 2(3), 30-35 (2017); View Description A Derived Metrics as a Measurement to Support Efficient Requirements Analysis and Release Management Indranil Nath Adv. Sci. Technol. Eng. Syst. J. 2(3), 36-40 (2017); View Description Feedback device of temperature sensation for a myoelectric prosthetic hand Yuki Ueda, Chiharu Ishii Adv. Sci. Technol. Eng. Syst. J. 2(3), 41-40 (2017); View Description Deep venous thrombus characterization: ultrasonography, elastography and scattering operator Thibaud Berthomier, Ali Mansour, Luc Bressollette, Frédéric Le Roy, Dominique Mottier Adv. Sci. Technol. Eng. Syst. J. 2(3), 48-59 (2017); View Description Improving customs’ border control by creating a reference database of cargo inspection X-ray images Selina Kolokytha, Alexander Flisch, Thomas Lüthi, Mathieu Plamondon, Adrian Schwaninger, Wicher Vasser, Diana Hardmeier, Marius Costin, Caroline Vienne, Frank Sukowski, Ulf Hassler, Irène Dorion, Najib Gadi, Serge Maitrejean, Abraham Marciano, Andrea Canonica, Eric Rochat, Ger Koomen, Micha Slegt Adv. Sci. Technol. Eng. Syst. J. 2(3), 60-66 (2017); View Description Aviation Navigation with Use of Polarimetric Technologies Arsen Klochan, Ali Al-Ammouri, Viktor Romanenko, Vladimir Tronko Adv. Sci. Technol. Eng. Syst. J. 2(3), 67-72 (2017); View Description Optimization of Multi-standard Transmitter Architecture Using Single-Double Conversion Technique Used for Rescue Operations Riadh Essaadali, Said Aliouane, Chokri Jebali and Ammar Kouki Adv. Sci. Technol. Eng. Syst. J. 2(3), 73-81 (2017); View Description Singular Integral Equations in Electromagnetic Waves Reflection Modeling A. S. Ilinskiy, T. N. Galishnikova Adv. Sci. Technol. Eng. Syst. J. 2(3), 82-87 (2017); View Description Methodology for Management of Information Security in Industrial Control Systems: A Proof of Concept aligned with Enterprise Objectives. Fabian Bustamante, Walter Fuertes, Paul Diaz, Theofilos Toulqueridis Adv. Sci. Technol. Eng. Syst. J. 2(3), 88-99 (2017); View Description Dependence-Based Segmentation Approach for Detecting Morpheme Boundaries Ahmed Khorsi, Abeer Alsheddi Adv. Sci. Technol. Eng. Syst. J. 2(3), 100-110 (2017); View Description Paper Improving Rule Based Stemmers to Solve Some Special Cases of Arabic Language Soufiane Farrah, Hanane El Manssouri, Ziyati Elhoussaine, Mohamed Ouzzif Adv. Sci. Technol. Eng. Syst. J. 2(3), 111-115 (2017); View Description Medical imbalanced data classification Sara Belarouci, Mohammed Amine Chikh Adv. Sci. Technol. Eng. Syst. J. 2(3), 116-124 (2017); View Description ADOxx Modelling Method Conceptualization Environment Nesat Efendioglu, Robert Woitsch, Wilfrid Utz, Damiano Falcioni Adv. Sci. Technol. Eng. Syst. J. 2(3), 125-136 (2017); View Description GPSR+Predict: An Enhancement for GPSR to Make Smart Routing Decision by Anticipating Movement of Vehicles in VANETs Zineb Squalli Houssaini, Imane Zaimi, Mohammed Oumsis, Saïd El Alaoui Ouatik Adv. Sci. Technol. Eng. Syst. J. 2(3), 137-146 (2017); View Description Optimal Synthesis of Universal Space Vector Digital Algorithm for Matrix Converters Adrian Popovici, Mircea Băbăiţă, Petru Papazian Adv. Sci. Technol. Eng. Syst. J. 2(3), 147-152 (2017); View Description Control design for axial flux permanent magnet synchronous motor which operates above the nominal speed Xuan Minh Tran, Nhu Hien Nguyen, Quoc Tuan Duong Adv. Sci. Technol. Eng. Syst. J. 2(3), 153-159 (2017); View Description A synchronizing second order sliding mode control applied to decentralized time delayed multi−agent robotic systems: Stability Proof Marwa Fathallah, Fatma Abdelhedi, Nabil Derbel Adv. Sci. Technol. Eng. Syst. J. 2(3), 160-170 (2017); View Description Fault Diagnosis and Tolerant Control Using Observer Banks Applied to Continuous Stirred Tank Reactor Martin F. Pico, Eduardo J. Adam Adv. Sci. Technol. Eng. Syst. J. 2(3), 171-181 (2017); View Description Development and Validation of a Heat Pump System Model Using Artificial Neural Network Nabil Nassif, Jordan Gooden Adv. Sci. Technol. Eng. Syst. J. 2(3), 182-185 (2017); View Description Assessment of the usefulness and appeal of stigma-stop by psychology students: a serious game designed to reduce the stigma of mental illness Adolfo J. Cangas, Noelia Navarro, Juan J. Ojeda, Diego Cangas, Jose A. Piedra, José Gallego Adv. Sci. Technol. Eng. Syst. J. 2(3), 186-190 (2017); View Description Kinect-Based Moving Human Tracking System with Obstacle Avoidance Abdel Mehsen Ahmad, Zouhair Bazzal, Hiba Al Youssef Adv. Sci. Technol. Eng. Syst. J. 2(3), 191-197 (2017); View Description A security approach based on honeypots: Protecting Online Social network from malicious profiles Fatna Elmendili, Nisrine Maqran, Younes El Bouzekri El Idrissi, Habiba Chaoui Adv. Sci. Technol. Eng. Syst. J. 2(3), 198-204 (2017); View Description Pulse Generator for Ultrasonic Piezoelectric Transducer Arrays Based on a Programmable System-on-Chip (PSoC) Pedro Acevedo, Martín Fuentes, Joel Durán, Mónica Vázquez, Carlos Díaz Adv. Sci. Technol. Eng. Syst. J. 2(3), 205-209 (2017); View Description Enabling Toy Vehicles Interaction With Visible Light Communication (VLC) M. A. Ilyas, M. B. Othman, S. M. Shah, Mas Fawzi Adv. Sci. Technol. Eng. Syst. J. 2(3), 210-216 (2017); View Description Analysis of Fractional-Order 2xn RLC Networks by Transmission Matrices Mahmut Ün, Manolya Ün Adv. Sci. Technol. Eng. Syst. J. 2(3), 217-220 (2017); View Description Fire extinguishing system in large underground garages Ivan Antonov, Rositsa Velichkova, Svetlin Antonov, Kamen Grozdanov, Milka Uzunova, Ikram El Abbassi Adv. Sci. Technol. Eng. Syst. J. 2(3), 221-226 (2017); View Description Directional Antenna Modulation Technique using A Two-Element Frequency Diverse Array Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 227-232 (2017); View Description Classifying region of interests from mammograms with breast cancer into BIRADS using Artificial Neural Networks Estefanía D. Avalos-Rivera, Alberto de J. Pastrana-Palma Adv. Sci. Technol. Eng. Syst. J. 2(3), 233-240 (2017); View Description Magnetically Levitated and Guided Systems Florian Puci, Miroslav Husak Adv. Sci. Technol. Eng. Syst. J. 2(3), 241-244 (2017); View Description Energy-Efficient Mobile Sensing in Distributed Multi-Agent Sensor Networks Minh T. Nguyen Adv. Sci. Technol. Eng. Syst. J. 2(3), 245-253 (2017); View Description Validity and efficiency of conformal anomaly detection on big distributed data Ilia Nouretdinov Adv. Sci. Technol. Eng. Syst. J. 2(3), 254-267 (2017); View Description S-Parameters Optimization in both Segmented and Unsegmented Insulated TSV upto 40GHz Frequency Juma Mary Atieno, Xuliang Zhang, HE Song Bai Adv. Sci. Technol. Eng. Syst. J. 2(3), 268-276 (2017); View Description Synthesis of Important Design Criteria for Future Vehicle Electric System Lisa Braun, Eric Sax Adv. Sci. Technol. Eng. Syst. J. 2(3), 277-283 (2017); View Description Gestural Interaction for Virtual Reality Environments through Data Gloves G. Rodriguez, N. Jofre, Y. Alvarado, J. Fernández, R. Guerrero Adv. Sci. Technol. Eng. Syst. J. 2(3), 284-290 (2017); View Description Solving the Capacitated Network Design Problem in Two Steps [O] . Meriem Khelifi, Mohand Yazid Saidi, Saadi Boudjit 2017

1. Modeling a Controller for an Articulated Robotic Arm [J] . Rajeev Agrawal ,Koushik Kabiraj ,Ravi Singh . 智能控制与自动化（英文） . 2012,第3期

2. 基于预估补偿的手眼伺服空间机器人控制方法研究 [C] . 史国振 ,北京电子科技学院 ,孙汉旭 . 信息、知识、智能及其转换理论第一次高峰论坛 . 2006

3. 重载机器人刚柔耦合动力学建模与补偿控制方法研究 [A] . 姚祥 . 2018