Development and key technology of six axis joint robots

被引：0

作者：

Han Y. ^{[1
]}

Xu Y. ^{[2
]}

Hua L. ^{[1
]}

Hou Z. ^{[2
]}

Chen S. ^{[2
]}

机构：

[1] No. 716 Research Institute of China Shipbuilding Industry, Lianyungang, 222061, Jiangsu

[2] School of Materials Science and Engineering, Shanghai Jiaotong University, Shanghai

来源：

Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2016年 / 50卷 / 10期

关键词：

Collaborative decoupling control; Joint robot; Optimization integrated; Synchronous interpolation;

D O I：

10.16183/j.cnki.jsjtu.2016.10.002

中图分类号：

学科分类号：

摘要：

This paper introduced the structure of a domestically developed six axis JARI joint robot system, and expounded some key technologies of the JARI robot, including the optimization integrated technology of robot mechanical system, space curve trajectory planning technology, robot six axis synchronous interpolation technology, and collaborative decoupling control technology, etc. © 2016, Shanghai Jiao Tong University Press. All right reserved.

引用

页码：1521 / 1525

页数：4

共 4 条

[1] Wang H., Fu B., Xue B., Et al., Dynamics analysis of 6-DOF manipulators with flexible joints, Chinese Journal of Mechanical Engineering, 27, 8, pp. 1096-1101, (2016)
[2] Wang Z., Cui S., Yue H., The research on robot's trajectory planning of joint robot, Machine Tool and Hydraulics, 2, pp. 63-64, (2005)
[3] Li M., Tan S., Shi D., Et al., Some robot planning system in the simulated world, Journal of Harbin Institute of Technology, 26, 2, pp. 27-32, (1994)
[4] Yan H., Liu J., Qiu S., Et al., Research on the automatic planning of arc welding robot welding path for space weld, Machinery Design and Manufacture, 8, pp. 106-107, (2005)

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