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一种七自由度拟人构型机械臂逆运动学规划方法 专利
专利类型: 发明, 专利号: CN109291046A, 公开日期: 2019-02-01,
Inventors:  赵忆文;  王争;  杜惠斌;  侯澈;  李英立
Adobe PDF(937Kb)  |  Favorite  |  View/Download:38/10  |  Submit date:2019/03/07
Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery 期刊论文
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2018, 卷号: 15, 期号: 4, 页码: 1-27
Authors:  Song GL(宋国立);  Hou C(侯澈);  Zhao YW(赵忆文);  Zhao XG(赵新刚);  Han JD(韩建达)
View  |  Adobe PDF(1306Kb)  |  Favorite  |  View/Download:124/17  |  Submit date:2018/09/04
Hollow modular joint  redundant robot  mechanical design  control  
Gravity Compensation of KUKA LBR IIWA through Fast Robot Interface 会议论文
Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, Tianjin, China, July 19-23, 2018
Authors:  Hou C(侯澈);  Zhao YW(赵忆文);  Wang JC(王君臣)
View  |  Adobe PDF(1800Kb)  |  Favorite  |  View/Download:46/11  |  Submit date:2018/12/27
基于模糊推理与无源性理论的上肢康复机器人柔顺控制 会议论文
Proceedings of the 36th Chinese Control Conference, Dalian, China, July 26-28, 2017
Authors:  侯澈;  赵忆文;  宋国立;  王争
Unknown(582Kb)  |  Favorite  |  View/Download:205/28  |  Submit date:2017/11/15
康复机器人  阻抗控制  模糊推理  柔性关节  
面向直接示教的机器人负载自适应零力控制 期刊论文
机器人, 2017, 卷号: 39, 期号: 4, 页码: 439-448
Authors:  侯澈;  王争;  赵忆文;  宋国立
View  |  Adobe PDF(1062Kb)  |  Favorite  |  View/Download:256/70  |  Submit date:2017/09/18
零力控制  自适应控制  模型辨识  直接示教  变负载