面向人机混合生产线的机器人行为机制与安全问题研究

61873308
2018
F0309.机器人学与智能系统
戴先中
面上项目
教授
东南大学
63万元
机械臂;行为机制;安全碰撞;人类预期
2019-01-01到2022-12-31
  • 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 The Optimal Solution for Base Frame Installation of Dual-arm Robot 会议论文 Jinjun Duan;Yahui Gan;Pengfei Cao;Xianzhong Dai
2 A calibration method of robot kinematic parameters by drawstring displacement sensor 期刊论文 Yahui Gan;Jinjun Duan;Xianzhong Dai
3 非结构环境下的机器人自适应变阻抗力跟踪控制方法 期刊论文 甘亚辉;段晋军;戴先中
4 Kinematic Optimization of Redundant Manipulators to Improve the Fault-Tolerant Control 会议论文 Yu Cao;Yahui Gan;Xianzhong Dai
5 Obstacle avoidance of 7-DOF Redundant Manipulators 会议论文 Zhiyuan Xu;Yahui Gan;Xianzhong Dai
6 一种基于改进RRT的七轴冗余机械臂避障算法 专利 朱德志;甘亚辉;曹鹏飞;房芳;周波
7 Multi-Robot Trajectory Planning and Position/Force Coordination Control in Complex Welding Tasks 期刊论文 Yahui Gan;Jinjun Duan;Ming Chen;Xianzhong Dai
8 Symmetrical adaptive variable admittance control for position/force tracking of dual-arm cooperative manipulators with unknown trajectory deviations 期刊论文 Duan Jinjun;Gan Yahui;Chen Ming;Dai Xianzhong
9 Task Sequence Planning Algorithm for Cooperative Assembly of Dual-arm Robot 会议论文 Zhang Jin;Gan Yahui;Wang Zhengwei;Dai Xianzhong
10 Compliant control based on impedance principle under unknown environmental stiffness 会议论文 Huichang Liu;Bo Zhou;Yahui Gan;Xudong Ma
11 An environment state perception method based on knowledge representation in dual-arm robot assembly tasks 期刊论文 Zhengwei Wang;Yahui Gan;Xianzhong Dai
12 A novel task-oriented framework for dual-arm robotic assembly task 期刊论文 Wang Zhengwei;Gan Yahui;Dai Xianzhong
13 双臂协调搬运过程中基于变阻抗模型的位置/力混合控制 期刊论文 段晋军;甘亚辉;戴先中
14 Sensor Calibration and Trajectory Planning in 3d Vision-guided Robots 会议论文 Chen Qin;Yahui GAN;Xianzhong Dai
15 Robotic Path Planning Algorithm based on Ray Tracking and Diffuseness 会议论文 Xiaoteng Wang;Yahui Gan;Fang Fang;Bo Zhou
16 Model-based sensorless robot collision detection under model uncertainties with a fast dynamics identification 期刊论文 Pengfei Cao;Yahui Gan;Xianzhong Dai
17 一种基于天牛须算法的双臂协作机器人逆解优化方法 专利 章进;甘亚辉;王政伟;房芳;周波
18 一种协作环境下人机最小距离的测算方法 专利 王政伟;甘亚辉;戴先中
19 Assembly-Oriented Task Sequence Planning for a Dual-Arm Robot 期刊论文 Zhengwei Wang;Yahui Gan;Xianzhong Dai
20 一种基于光线跟踪的移动机器人路径规划方法 专利 王晓腾;甘亚辉;房芳;周波
21 The Weld Extraction Algorithm for Robotic Arc Welding Based on 3D Laser Sensor 会议论文 Peilin Wu;Yahui Gan;Xianzhong Dai
22 Finite-Time Disturbance Observer for Robotic Manipulators 期刊论文 Pengfei Cao;Yahui Gan;Xianzhong Dai
23 Combining Vision Sensing with Knowledge Database for Environmental Modeling in Dual-arm Robot Assembly Task 会议论文 Zhengwei Wang;Yahui Gan;Xianzhong Dai;Bo Zhou;Fang Fang
24 基于快速动力学辨识的免外部传感器机器人碰撞检测 期刊论文 甘亚辉;曹鹏飞;戴先中
25 Research on Drag Control Algorithm of Cooperative Robot Based on Torque Compensation 会议论文 Dezhi Zhu;Yahui Gan;Xianzhong Dai
26 Passivity-Based Stable Human-Robot Cooperation with Variable Admittance Control 会议论文 Pengfei Cao;Yahui Gan;Jinjun Duan;Xianzhong Dai
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