蒙皮镜像加工机器人系统的主动顺应与协调控制研究

91648202
2016
E0501.机器人与机构学
朱利民
重大研究计划
教授
上海交通大学
300万元
混联机器人;协调控制;镜像铣削;飞行器蒙皮;主动顺应
2017-01-01到2020-12-31
  • 中英文摘要
  • 结题摘要
  • 结题报告
  • 项目成果
  • 项目参与人
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序号 标题 类型 作者
1 An error-bounded B-spline curve approximation scheme using dominant points for CNC interpolation of micro-line toolpath 期刊论文 Du Xu;Huang Jie;Zhu Li-Min;Ding Han
2 Wall thickness error prediction and compensation in end milling of thin-plate parts 期刊论文 Huang Wei-Wei;Zhang Yang;Zhang Xin-Quan;Zhu Li-Min
3 Force/Torque Sensorless Compliant Control Strategy for Assembly Tasks Using a 6-DOF Collaborative Robot 期刊论文 Zeng Fan;Xiao Juliang;Liu Haitao
4 Evaluation indicators of the runout effects on milling forces and regenerative stability 会议论文 Jinbo NIU;Jingfu PENG;Ye DING;LiMin ZHU
5 A novel curvature circle iterative algorithm for contour error control of multi-axis CNC machine tools 期刊论文 Yang Ming;Yang Jixiang;Zhu Limin;Yu Xi
6 Stiffness-based pose optimization of an industrial robot for five-axis milling 期刊论文 Xiong Gang;Ding Ye;Zhu LiMin
7 A closed-loop error compensation method for robotic flank milling 期刊论文 Xiong Gang;Li Zhou-Long;Ding Ye;Zhu LiMin
8 Accurate cutting force prediction of helical milling operations considering the cutter runout effect 期刊论文 Li Zhou-Long;Ding Ye;Zhu Li-Min
9 Fv-SVM-Based Wall-Thickness Error Decomposition for Adaptive Machining of Large Skin Parts 期刊论文 Bi Qingzhen;Wang Xinzhi;Wu Qi;Zhu Limin;Ding Han
10 一种基于粗插补的混联机器人误差在线补偿系统及方法 专利 洪鹰;张阳阳;肖聚亮;刘海涛;黄田;王国栋;孙誉博;王健;王云鹏
11 Patterns of Regenerative Milling Chatter Under Joint Influences of Cutting Parameters, Tool Geometries, and Runout 期刊论文 Niu Jinbo;Ding Ye;Geng Zunmin;Zhu LiMin;Ding Han
12 Sliding mode control with third-order contour error estimation for free-form contour following 期刊论文 Du Xu;Huang Jie;Zhu Li-Min;Ding Han
13 Continuous Friction Feedforward Sliding Mode Controller for a TriMule Hybrid Robot 期刊论文 Yang Xu;Liu Haitao;Xiao Juliang;Zhu Wule;Liu Qi;Gong Guofang;Huang Tian
14 Research on the collaborative machining method for dual-robot mirror milling 期刊论文 Xiao Ju-Liang;Zhao Su-Lei;Guo Hao;Huang Tian;Lin Bin
15 Rate-dependent hysteresis modeling and compensation of piezoelectric actuators using Gaussian process 期刊论文 Tao Yi-Dan;Li Han-Xiong;Zhu Li-Min
16 Local asymmetrical corner trajectory smoothing with bidirectional planning and adjusting algorithm for CNC machining 期刊论文 Weixin Wang;Chuxiong Hu;Kai Zhou;Suqin He;Limin Zhu
17 Prediction model based contouring error iterative pre-compensation scheme for precision multi-axis motion systems 期刊论文 Ze Wang;Chuxiong Hu;Yu Zhu;Limin Zhu
18 磁引导的气动变刚度镜像铣削柔性支撑机构 专利 肖聚亮;张清越;刘海涛;黄田;王国栋;洪鹰
19 Learning Semantic Keypoint Representations for Door Opening Manipulation 期刊论文 Wang Jiayu;Lin Shize;Hu Chuxiong;Zhu Yu;Zhu Limin
20 Profile tracking for multi-axis ultrasonic inspection of model-unknown free-form surfaces based on energy concentration 期刊论文 Yang Zhang;Kai Chen;Peng Guo;Fan Li;Jiang Zhu;Limin Zhu
21 Development of a Novel Pile-Up Structure Based Nanopositioning Mechanism Driven by Piezoelectric Actuator 期刊论文 Yang Xu;Zhu Limin;Li Shizhen;Zhu Wule;Ji Chen
22 Research on optimized time-synchronous online trajectory generation method for a robot arm 期刊论文 Mingli Wang;Juliang Xiao;Fan Zeng;Guodong Wang
23 Research on the speed coordination in dual-robot mirror milling of cylindrical thin-walled parts 会议论文 Qingyue Zhang;Juliang Xiao;Haitao Liu;Xuda Qin;Tian Huang;Xu Yang;Xianlei Shan;Guofeng Wang;Wentie Niu
24 Integration of optimized feedrate into an online adaptive force controller for robot milling 期刊论文 Xiong Gang;Li Zhou-Long;Ding Ye;Zhu LiMin
25 型面自适应对准超声测厚装置及自适应对准超声测厚方法 专利 郭鹏;朱江;张杨;朱利民;张龙
26 工业机器人铣削加工路径全局光顺方法及系统 专利 彭景福;丁烨;丁汉
27 A product-of-exponential-based robot calibration method with optimal measurement configurations 期刊论文 Xiong Gang;Ding Ye;Zhu LiMin;Su Chun-Yi
28 精密数控加工系统的动力学特性与控制方法 奖励 朱利民;谷国迎;丁烨;丁汉
29 一种前馈控制器参数的自动整定方法 专利 黄田;刘祺;刘海涛;肖聚亮;秦旭达;牛文铁;梅江平
30 一种针对机器人的耦合前馈控制方法 专利 黄田;刘祺;肖聚亮;刘海涛;秦旭达;牛文铁;梅江平
31 一种五自由度混联机器人驱动关节零点误差的补偿方法 专利 杨俊豪;田文杰;尹福文;黄田;刘海涛;肖聚亮;王国锋;牛文铁;秦旭达;丁雅斌
32 Third-order chord error estimation for freeform contour in computer-aided manufacturing and computer numerical control systems 期刊论文 Du Xu;Huang Jie;Zhu Li-Min;Ding Han
33 Kinematic calibration for industrial robot using a telescoping ballbar 会议论文 Zeming Wu;Peng Guo;Yang Zhang;Limin Zhu
34 Real-time feedrate scheduling for five-axis machining by simultaneously planning linear and angular trajectories 期刊论文 Huang Jie;Lu Yaoan;Zhu Li-Min
35 一种集成式实时测厚的气动变刚度镜像铣柔性支撑装置 专利 肖聚亮;徐发达;黄田;林彬;赵素雷
36 型腔螺旋铣削加工进给率与转速离线规划方法 专利 雷阳;丁烨;郑建明
37 Compensation of deformation errors in five-axis flank milling of thin-walled parts via tool path optimization 期刊论文 Li Zhou-Long;Zhu Li-Min
38 Chatter detection in milling processes using frequency-domain Renyi entropy 期刊论文 Chen ZaoZao;Li ZhouLong;Niu JinBo;Zhu LiMin
39 蒙皮加工的镜像铣削方法与系统 专利 王宇晗;毕庆贞;钟柳春
40 An accelerated convergence approach for real-time deformation compensation in large thin-walled parts machining 期刊论文 Wang Xinzhi;Li Zhoulong;Bi Qingzhen;Zhu Limin;Ding Han
41 六轴工业机器人铣削加工离线编程方法及系统 专利 熊刚;丁烨;朱利民
42 一种适用于镜像铣削曲面薄板类零件的夹具 专利 洪鹰;黄欣;肖聚亮;王国栋;刘海涛;黄田
43 Automatic profile tracking of deformed surface in mirror milling based on ultrasonic measurement 会议论文 Peng Guo;Zeming Wu;Yang Zhang;Limin Zhu
44 双机器人镜像铣削等壁厚加工的协调运动同步控制方法 专利 肖聚亮;赵素雷;黄田;郭浩;徐发达
45 基于超声测量的表面轮廓自动跟踪方法 专利 张杨;朱江;郭鹏;朱利民;秦玉
46 Mechanics and multi-regenerative stability of variable pitch and variable helix milling tools considering runout 期刊论文 Niu Jinbo;Ding Ye;Zhu Limin;Ding Han
47 Deformation prediction based on an adaptive GA-BPNN and the online compensation of a 5-DOF hybrid robot 期刊论文 YuBo Sun;Juliang Xiao;Haitao Liu;Tian Huang;Guodong Wang
48 GRU-type LARC strategy for precision motion control with accurate tracking error prediction 期刊论文 Chuxiong Hu;Tiansheng Ou;Yu Zhu;Limin Zhu
49 Tracking control of nanopositioning stages using parallel resonant controllers for high-speed nonraster sequential scanning 期刊论文 Yidan Tao;Zhiwei Zhu;Qingsong Xu;Han-Xiong Li;LiMin Zhu
50 Transient Vibration Analysis Method for Predicting the Transient Behavior of Milling With Variable Spindle Speeds 期刊论文 Wang Xinzhi;Bi QingZhen;Chen Tao;Zhu Limin;Ding Han
51 Collision detection algorithm for collaborative robots considering joint friction 期刊论文 Xiao Juliang;Zhang Qiulong;Hong Ying;Wang Guodong;Zeng Fan
52 Modified Robust Dynamic Control for a Diamond Parallel Robot 期刊论文 Yang Xu;Zhu Limin;Ni Yanbing;Liu Haitao;Zhu Wule;Shi Hu;Huang Tian
53 Research on the forcefree control of cooperative robots based on dynamic parameters identification 期刊论文 Xiao Juliang;Zeng Fan;Zhang Qiulong;Liu Haitao
54 Research on vibration suppression by a multi-point flexible following support head in thin-walled part mirror milling 期刊论文 JuLiang Xiao;QingYue Zhang;HaiTao Liu;Tian Huang;XianLei Shan
55 Time/space-separation-based Gaussian process modeling for the cross-coupling effect of a 2-DOF nanopositioning stage 期刊论文 Yidan Tao;Hanxiong Li;LiMin Zhu
56 Positive acceleration, velocity and position feedback based damping control approach for piezo-actuated nanopositioning stages 期刊论文 Li Linlin;Li Chun-Xia;Gu Guoying;Zhu Li-Min
57 Intelligent feedforward compensation motion control of maglev planar motor with precise reference modification prediction 期刊论文 Tiansheng Ou;Chuxiong Hu;Yu Zhu;Ming Zhang;Limin Zhu
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