http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-110421547-B
Outgoing Links
| Predicate | Object |
|---|---|
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1682 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1612 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-0087 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1664 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J9-16 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J9-00 |
| filingDate | 2019-07-12-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate | 2022-10-28-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationDate | 2022-10-28-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-110421547-B |
| titleOfInvention | A Cooperative Impedance Control Method for Dual-arm Robot Based on Estimated Dynamics Model |
| abstract | The invention discloses a collaborative impedance control method for a dual-arm robot based on an estimated dynamic model. First, according to the expected trajectory of the target object in the Cartesian space, the expected trajectory of the robot arm end in Cartesian space is calculated, and then the actual contact force between the ends of the two robotic arms and the target object is measured, and the actual contact force and the expected contact force are obtained. Strive for the deviation, and then correct the desired trajectory. Then, the joint angle trajectory of the dual-arm robot is calculated. By means of time delay estimation, expected velocity feedback, and expected position feedback, the estimated dynamics model of the dual-arm robot is obtained, and the control torque of each joint of the dual-arm robot is obtained from this, and the movement completed by the dual-arm robot is controlled. The invention can realize the kinematics and dynamics coordination in the interaction process of the dual-arm robot and the external environment, can quickly generate the control torque by estimating the dynamic model, and can be applied to the motion control of the dual-arm robot cooperative operation. |
| priorityDate | 2019-07-12-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID422707724 http://rdf.ncbi.nlm.nih.gov/pubchem/protein/ACCP27058 http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID25078152 |
Total number of triples: 17.