CN102607411A - Measuring device for terminal pose of robot - Google Patents
Measuring device for terminal pose of robot Download PDFInfo
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- CN102607411A CN102607411A CN201210055567XA CN201210055567A CN102607411A CN 102607411 A CN102607411 A CN 102607411A CN 201210055567X A CN201210055567X A CN 201210055567XA CN 201210055567 A CN201210055567 A CN 201210055567A CN 102607411 A CN102607411 A CN 102607411A
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Abstract
The invention relates to a measuring device for a terminal pose of a robot. The device comprises an orthogonal laser emitting device arranged at the terminal of a robot and a group of laser projecting position measuring devices. Three lasers in the orthogonal laser emitting device emit laser beams which are vertical in a two-to-two manner and have high verticality, at the same time, the axis of the three laser beams are intersected in one point, so that the three laser beams form a structure similar to the position relationship of a three-dimensional coordinate axis. The laser projecting position measuring devices are the projection surfaces of the laser beams and can measure the position coordinate of the projection points of the laser beams on the projection surfaces, and the data obtained after measurement can be used for calculating the terminal pose of the robot. The measuring device is used for measuring the terminal pose of the robot, and as tiny angle deflection of the laser emitter can enable the projection point of the laser to generate great displacement on a far projection surface and the lasers are arranged on the terminal of the robot, the position coordinate of the projection points can reflect the terminal pose of the robot with high precision, and the measurement precision of the terminal pose of the robot can be ensured.
Description
Technical field
The present invention relates to a kind of robot end's pose measuring apparatus, be used for joint of robot and terminal position and attitude demarcation, belong to the robot field.
Background technology
Accurate robot end's pose is robot kinematics's basic demand.The various tasks that robot can accomplish, major part all can arrive impact point according to certain pose accuracy requirement the robot end and realize.Guarantee the precision of robot self in the Robotics through a series of technological means, but these Technical Boards are limited to robot self inside, can not guarantee with the compatibility of external environment.Making robot work smoothly just need demarcate in working environment robot.The most frequently used device was a three coordinate measuring machine etc. during robot was demarcated in the past, can only effectively record single positional information or attitude information, and cost is high.This robot end's pose measuring apparatus is through launching the orthogonal laser projection of three beams to projection arrangement; Comprised comprehensive robot end's posture information in the positional information of projection; Thereby can the posture information that contain separated out through Laser Measurement projection coordinate records the pose of robot end in working environment; For the motion control of robot provides the pose feedback, improve robot motion's precision thereby robot demarcated.
Summary of the invention
The objective of the invention is to defective to the prior art existence; A kind of brand-new simple in structure, reliable, robot end's pose measuring apparatus that precision is high is provided; High to solve robot calibrating instrument requirement all the time, can not be simultaneously in the calibration process the accurate defective of measuring position and attitude.
For solving the problems of the technologies described above design of the present invention be:
A kind of robot end's pose measuring apparatus; It is mainly by the quadrature laser beam emitting device that can launch three beams laser beam perpendicular to each other; This device is installed to the robot end according to certain attitude, and the following robot end moves together, and the laser beam of being sent by the quadrature laser beam emitting device projects on the laser projection position-measurement device; Read the laser projection coordinate through the coordinates logo on the laser projection position-measurement device, through calculating robot end's pose.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of robot end's pose measuring apparatus; Comprise quadrature laser beam emitting device and one group of laser projection position-measurement device that is installed to the robot end; It is characterized in that: said quadrature laser beam emitting device is made up of laser instrument one installation adjusting device, laser instrument two installation adjusting devices and laser instrument three installation adjusting devices; The three beams of laser bundle that feasible laser instrument one, laser instrument two and the laser instrument three wherein of these three device installations on base launched is orthogonal in twos; Meanwhile the three beams of laser axis is intersected in a bit, makes this three beams of laser form the structure that is similar to three-dimensional coordinate shaft position relation; Said laser projection position-measurement device is the projecting plane of laser beam, can measure at the subpoint position coordinates on projecting plane laser beam, and the data that record are used for the calculating to robot end's pose.Said laser instrument one installation adjusting device is by laser instrument one (I
') be connected through screw pair with laser instrument one mount pad (2); Said laser instrument one mount pad (2) is connected through revolute pair with laser instrument one centering device (3); Said laser instrument one centering device (3) is connected through annular movement is secondary with base (1); Said laser instrument one adjustment knob (4) is connected through screw pair with laser instrument one centering device (3) and compresses laser instrument one mount pad (2) simultaneously, and said laser instrument one stationary installation (5) and laser instrument one centering device (3) are connected through bolt and pass through bolt simultaneously and be connected with base (1); Said laser instrument two installation adjusting devices (II) are by laser instrument two (II
') and laser instrument two mount pads (6), laser instrument two adjustment knobs (7), laser instrument two centering devices (8), laser instrument two adjustment supports (9), laser instrument two adjustment bases (10) and laser instrument two adjustment knobs (11) compositions, said laser instrument two (II
') with laser instrument two mount pads (6) through being threaded; Said laser instrument two mount pads (6) are connected through revolute with laser instrument two centering devices (8); Said laser instrument two adjustment knobs (7) are connected through screw thread pair with laser instrument two centering devices (8) and compress laser instrument two mount pads (6) simultaneously; Said laser instrument two centering devices (8) are connected through annular movement is secondary with quadrature laser generator base (1); Said laser instrument two adjustment supports (9) are connected through bolt with laser instrument two centering devices (8); Said laser instrument two adjustment bases (10) are connected through bolt with base (1), and said laser instrument two is adjusted knobs (11) and laser instrument two and adjusted bases (10) and be connected through screw thread pair and compress laser instrument two simultaneously and adjust supports (9); Said laser instrument three Installation and Debugging devices (III) are by laser instrument three (III
'), laser instrument three mount pads (12), laser instrument three adjustment slide blocks (13), laser instrument three adjustment knobs (14) form said laser instrument three (III
') be connected through screw thread pair with laser instrument three mount pads (12); Said laser instrument three adjustment slide blocks (13) are connected through moving sets with laser instrument three mount pads (12); Said laser instrument three adjustment knobs (14) are connected through ball is secondary with laser instrument three adjustment slide blocks (13); Said laser instrument three adjustment knobs (14) are connected through screw thread pair with base (1), and base (1) is fixed to the robot end through screw thread pair.Said laser projection position-measurement device is the projecting plane of laser; To require the projecting plane during installation be coordinate axis perpendicular to the robot basis coordinates and accurately measure apart from needs apart from initial point; Be carved with grid square on the projecting plane; Accurate measurement laser projection point coordinate in grid, the result of grid coordinates and the addition of accurate measurement coordinate is exactly the laser projection point coordinate, and this coordinate figure is through calculating robot end's pose.
The present invention has following outstanding inner characteristic point and remarkable advantage compared with prior art:
This robot end pose measuring apparatus is the position coordinates and the attitude matrix of robot measurement simultaneously, and simple in structure, and precision is high.At first, adjusting gear can guarantee that the quadrature laser beam emitting device launches the orthogonal laser of one group of high verticality precision, and the vertical precision of this laser beam will directly influence robot end's pose measurement precision; Secondly; Because the small angular deflection of laser beam can produce big displacement on the projecting plane at a distance; Make small laser beam angular deflection convert the locational big displacement of laser projection point into, guaranteed robot end's pose measurement precision thereby projected position is carried out high precision.In addition, this apparatus structure is simple, and the adjustment structure easy operating connects simple and reliablely between each mechanism unit, be easy to dismounting and equipment replacement, and adjustment process does not need utility appliance to reduce the manpower and materials input, has reduced the measurement cost, and effect is obvious.
Description of drawings
Fig. 1 is robot end's pose measuring apparatus general assembly drawing.
Fig. 2 is the general assembly drawing of quadrature laser beam emitting device.
Fig. 3 be laser instrument one to heart adjustment synoptic diagram, identical with laser instrument two adjustment principles.
Fig. 4 is laser instrument one and laser instrument two verticality adjustment synoptic diagram.
Fig. 5 is the position adjustment synoptic diagram of laser instrument three.
Embodiment
The preferred embodiments of the present invention accompanying drawings is following:
Embodiment one: referring to Fig. 1; This robot end pose measuring apparatus comprises the quadrature laser beam emitting device and the one group of laser projection position-measurement device (B) that are installed to the robot end; It is characterized in that: described quadrature laser beam emitting device (A) is made up of laser instrument one installation adjusting device (I), laser instrument two installation adjusting devices (II) and laser instrument three installation adjusting devices (III), the feasible laser instrument one (I wherein of the installation of these three devices (I, II, III) on base (1)
'), laser instrument two (II
') and laser instrument three (III
') the three beams of laser bundle (15) launched is orthogonal in twos, meanwhile the three beams of laser axis is intersected in a bit, makes this three beams of laser form the structure that is similar to three-dimensional coordinate shaft position relation; Described laser projection position-measurement device is the projecting plane of laser beam (15), can measure at the subpoint position coordinates on projecting plane laser beam (15), and the data that record are used for the calculating to robot end's pose; Laser instrument is installed on the robot end because the small angular deflection of generating laser can make the laser projection point on remote projecting plane, produce big displacement; So the subpoint position coordinates can high precision react robot end's pose, guarantees the measuring accuracy of robot end's pose.
Embodiment two:
Present embodiment and embodiment one are basic identical, and special feature is:
Referring to Fig. 2～5, described laser instrument one installation adjusting device (I) is by laser instrument one (I
'), laser instrument one mount pad (2), laser instrument one centering device (3), laser instrument one adjustment knob (4) and laser instrument one stationary installation (5) composition; Described laser instrument one is connected through screw pair with laser instrument one mount pad (2); Described laser instrument one mount pad (2) is connected through revolute pair with laser instrument one centering device (3); Described laser instrument one centering device (3) is connected through annular movement is secondary with base (1); Described laser instrument one adjustment knob (4) is connected through screw pair with laser instrument one centering device (3) and compresses laser instrument one mount pad (2) simultaneously, and described laser instrument one stationary installation (5) and laser instrument one centering device (3) are connected through bolt and pass through bolt simultaneously and be connected with quadrature generating laser base (1).
Embodiment three:
Present embodiment and embodiment two are basic identical, and special feature is:
Referring to Fig. 2～5, described laser instrument two installation adjusting devices (II) are by laser instrument two (II
'), laser instrument mount pad (6), laser instrument two adjustment knobs (7), laser instrument two centering devices (8), laser instrument two adjustment supports (9), laser instrument two adjustment bases (10) and laser instrument two adjustment knobs (11) compositions; Described laser instrument two and laser instrument two mount pads (6) are through being threaded; Described laser instrument two mount pads (6) are connected through revolute with laser instrument two centering devices (8); Described laser instrument two adjustment knobs (7) are connected through screw thread pair with laser instrument two centering devices (8) and compress laser instrument two mount pads (6) simultaneously; Described laser instrument two centering devices (8) are connected through annular movement is secondary with base (1); Described laser instrument two adjustment supports (9) are connected through bolt with laser instrument two centering devices (8); Described laser instrument two adjustment bases (10) are connected through bolt with base (1), and described laser instrument two is adjusted knobs (11) and laser instrument two and adjusted bases (10) and be connected through screw thread pair and compress laser instrument two simultaneously and adjust supports (9).
Embodiment four:
Present embodiment and embodiment three are basic identical, and special feature is:
Described laser instrument Installation and Debugging device (III) is by laser instrument three (III
'), laser instrument three mount pads (12), laser instrument three adjustment slide blocks (13), laser instrument three adjustment knobs (14) form; Described laser instrument three is connected through screw thread pair with laser instrument three mount pads (12); Described laser instrument three adjustment slide blocks (13) are connected through moving sets with laser instrument three mount pads (12); Described laser instrument three adjustment knobs (14) are connected through ball is secondary with laser instrument three adjustment slide blocks; Described laser instrument three adjustment knobs (14) are connected through screw thread pair with base (1), and base (1) is fixed to the robot end through screw thread pair.
Embodiment five:
Present embodiment and embodiment four are basic identical, and special feature is:
Described laser projection position-measurement device (B) is by the decision of robot basis coordinates system, and to require the laser projection face be coordinate axis perpendicular to basis coordinates and be that the initial point distance also need preestablish apart from basis coordinates.
The adjustment process of this robot end pose measuring apparatus and the course of work be (referring to Fig. 1～5) as follows:
1, referring to Fig. 2, Fig. 3, laser instrument one centering device (3) is fixed on the base (1) through laser instrument one stationary installation (5), laser instrument one (I
') be installed on laser instrument one mount pad (2), laser instrument one mount pad (2) connects laser instrument centering device (3), annular movement adjutant's laser instrument one (I of laser instrument one centering device (3) through rotating pin
') laser beam (15) direction is limited to the position of pointing to base (1) center substantially, through adjustment laser instrument one adjustment knob (4) to laser instrument one (I
') direction of laser beam (15) finely tunes, and makes it accurately point to base (1) center, fine setting finishes through locking opposed adjusting knob locked laser one (I
') position.
2, referring to Fig. 2, Fig. 3, laser instrument two (II
') be installed on laser instrument two mount pads (6), laser instrument two mount pads (6) connect laser instrument two centering devices (8), annular movement adjutant's laser instrument one (I of laser instrument two centering devices (8) through rotating pin
') laser beam (15) direction is limited to the position of pointing to base (1) center substantially, through adjustment laser instrument two adjustment knobs (11) to laser instrument two (II
') direction of laser beam (15) finely tunes, and makes it accurately point to base (1) center, fine setting finishes and locks through locking opposed laser instrument two adjusting knobs (11), anyway adjusts laser instrument two centering devices (8), laser instrument two (II this moment
') laser beam (15) direction will pass through the center of base (1) all the time; Laser instrument two adjustment supports (9) are connected on laser instrument two centering devices (8) through bolt; Laser instrument two adjustment bases (10) are connected on the quadrature generating laser base (1) through bolt; Laser instrument two adjustment knobs (11) are connected on the laser instrument two adjustment bases (10) through screw thread pair, are used to adjust laser instrument two (II
') laser beam and laser instrument one (I
') verticality of laser beam, adjustment laser instrument two (II
') laser beam and laser instrument one (I
') vertical back opposed laser instrument two adjustment knob (11) locked lasers two (II that pass through of laser beam
') the position, this moment, laser beam one intersected at the center of base (1) with laser beam two, and two bundle laser are orthogonal.
3, referring to Fig. 1, Fig. 4, laser instrument three (III
') be connected to laser instrument three mount pads (12) through screw thread pair; Laser instrument three adjustment slide blocks (13) are connected to laser instrument three mount pads (12) through moving sets; Laser instrument three adjustment knobs (14) are connected through ball is secondary with laser instrument three adjustment slide blocks; Laser instrument three adjustment knobs (14) are connected through screw thread pair with base (1), and laser instrument three adjustment knobs (14) have adopted two pairs of opposed patterns, these two pairs of knob axis normal; Laser instrument three adjustment slide blocks (13) can guarantee laser instrument three adjustment knobs (14) to laser instrument three mount pads (12) adjustment freely; (Fig. 4) adjustment structure of bilayer makes laser instrument three not only can adjust the position, can also adjust verticality, adjusts the respective outer side edges adjustment through bilayer and makes laser beam three in through laser beam one and laser beam two intersection points, restraint laser vertical with two.
4, the installation of laser projection position-measurement device (B) need be that the orientation is confirmed according to the robot basis coordinates; The laser projection face is a workplace; Be carved with grid square on the workplace; Laser projection must the laser projection coordinate through accurate measurement coordinate in the grid and grid coordinates addition in certain grid the time, and the laser projection position-measurement device need comprise the entire machine people space of working.
Claims (3)
1. robot end's pose measuring apparatus; Comprise quadrature laser beam emitting device and one a group of laser projection position-measurement device (B) that is installed to the robot end; It is characterized in that: described quadrature laser beam emitting device (A) is made up of laser instrument one installation adjusting device (I), laser instrument two installation adjusting devices (II) and laser instrument three installation adjusting devices (III), the feasible laser instrument one (I wherein of the installation of these three devices (I, II, III) on base (1)
'), laser instrument two (II
') and laser instrument three (III
') the three beams of laser bundle (15) launched is orthogonal in twos, meanwhile the three beams of laser axis is intersected in a bit, makes this three beams of laser form the structure that is similar to three-dimensional coordinate shaft position relation; Described laser projection position-measurement device is the projecting plane of laser beam (15), can measure at the subpoint position coordinates on projecting plane laser beam (15), and the data that record are used for the calculating to robot end's pose; Laser instrument connects firmly on the robot end simultaneously because the small angular deflection of generating laser can make the laser projection point on remote projecting plane, produce big displacement; So the subpoint position coordinates can high precision react robot end's pose, guarantees the measuring accuracy of robot end's pose.
2. robot end's pose measuring apparatus according to claim 1; It is characterized in that: be made up of laser instrument one installation adjusting device (I), laser instrument two installation adjusting devices (II) and laser instrument three installation adjusting devices (III), said laser instrument one installation adjusting device (I) is by laser instrument one (I
'), laser instrument one mount pad (2), laser instrument one centering device (3), laser instrument one adjustment knob (4) and laser instrument one stationary installation (5) composition, said laser instrument one (I
') be connected through screw pair with laser instrument one mount pad (2); Said laser instrument one mount pad (2) is connected through revolute pair with laser instrument one centering device (3); Said laser instrument one centering device (3) is connected through annular movement is secondary with base (1); Said laser instrument one adjustment knob (4) is connected through screw pair with laser instrument one centering device (3) and compresses laser instrument one mount pad (2) simultaneously, and said laser instrument one stationary installation (5) and laser instrument one centering device (3) are connected through bolt and pass through bolt simultaneously and be connected with base (1); Said laser instrument two installation adjusting devices (II) are by laser instrument two (II
') and laser instrument two mount pads (6), laser instrument two adjustment knobs (7), laser instrument two centering devices (8), laser instrument two adjustment supports (9), laser instrument two adjustment bases (10) and laser instrument two adjustment knobs (11) compositions, said laser instrument two (II
') with laser instrument two mount pads (6) through being threaded; Said laser instrument two mount pads (6) are connected through revolute with laser instrument two centering devices (8); Said laser instrument two adjustment knobs (7) are connected through screw thread pair with laser instrument two centering devices (8) and compress laser instrument two mount pads (6); Said laser instrument two centering devices (8) are connected through annular movement is secondary with base (1); Said laser instrument two adjustment supports (9) are connected through bolt with laser instrument two centering devices (8); Said laser instrument two adjustment bases (10) are connected through bolt with base (1), and said laser instrument two is adjusted knobs (11) and laser instrument two and adjusted bases (10) and be connected through screw thread pair and compress laser instrument two simultaneously and adjust supports (9); Said laser instrument three Installation and Debugging devices (III) are by laser instrument three (III
'), laser instrument three mount pads (12), laser instrument three adjustment slide blocks (13), laser instrument three adjustment knobs (14) form said laser instrument three (III
') be connected through screw thread pair with laser instrument three mount pads (12); Said laser instrument three adjustment slide blocks (13) are connected through moving sets with laser instrument three mount pads (12); Said laser instrument three adjustment knobs (14) are connected through ball is secondary with laser instrument three adjustment slide blocks (13); Said laser instrument three adjustment knobs (14) are connected through screw thread pair with base (1), and base (1) is fixed to the robot end through screw thread pair.
3. require described robot end's pose measuring apparatus according to right 1; It is characterized in that: said laser projection position-measurement device (B) is the projecting plane of laser; To require the projecting plane during installation be coordinate axis perpendicular to the robot basis coordinates and accurately measure apart from needs apart from initial point; Be carved with grid square on the projecting plane, accurate measurement laser projection point coordinate in grid, the result of grid coordinates and the addition of accurate measurement coordinate is exactly the laser projection point coordinate; This coordinate figure is through calculating robot end's pose.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210055567XA CN102607411A (en) | 2012-03-06 | 2012-03-06 | Measuring device for terminal pose of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210055567XA CN102607411A (en) | 2012-03-06 | 2012-03-06 | Measuring device for terminal pose of robot |
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| CN201210055567XA Pending CN102607411A (en) | 2012-03-06 | 2012-03-06 | Measuring device for terminal pose of robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103940335A (en) * | 2014-04-25 | 2014-07-23 | 南京埃斯顿机器人工程有限公司 | Device for measuring repeated positioning accuracy of industrial robot |
| CN104048609A (en) * | 2014-06-28 | 2014-09-17 | 长沙矿山研究院有限责任公司 | Non-contact type rock body three-dimensional space displacement monitoring method |
| CN105444672A (en) * | 2015-12-17 | 2016-03-30 | 华科精准（北京）医疗科技有限公司 | Orthogonal plane calibrating method and orthogonal plane calibrating system of relation between laser distance measuring device and end of mechanical arm |
| CN105737735A (en) * | 2016-03-08 | 2016-07-06 | 上海大学 | Portable self-calibration end performer repetition positioning precision measurement device and method |
| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| CN108613647A (en) * | 2018-07-02 | 2018-10-02 | 燕山大学 | Three-DOF planar parallel mechanism moving platform apparatus for detecting position and posture |
| CN109719757A (en) * | 2019-03-07 | 2019-05-07 | 桂林电子科技大学 | Teaching Multi-freedom-degreemanipulator manipulator end pose measuring method |
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| CN102303318A (en) * | 2011-06-22 | 2012-01-04 | 北京理工大学 | Robot wrist structure capable of realizing universal adjustment and accurate positioning |
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| US20100228421A1 (en) * | 2004-03-29 | 2010-09-09 | Evolution Robotics, Inc. | Methods and apparatus for position estimation using reflected light sources |
| CN102362149A (en) * | 2009-03-26 | 2012-02-22 | 罗伯特·博世有限公司 | Self-leveling 360 deg multi-line laser device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103940335A (en) * | 2014-04-25 | 2014-07-23 | 南京埃斯顿机器人工程有限公司 | Device for measuring repeated positioning accuracy of industrial robot |
| CN104048609A (en) * | 2014-06-28 | 2014-09-17 | 长沙矿山研究院有限责任公司 | Non-contact type rock body three-dimensional space displacement monitoring method |
| CN104048609B (en) * | 2014-06-28 | 2017-01-11 | 长沙矿山研究院有限责任公司 | Non-contact type rock body three-dimensional space displacement monitoring method |
| CN105444672A (en) * | 2015-12-17 | 2016-03-30 | 华科精准（北京）医疗科技有限公司 | Orthogonal plane calibrating method and orthogonal plane calibrating system of relation between laser distance measuring device and end of mechanical arm |
| CN105444672B (en) * | 2015-12-17 | 2017-10-17 | 华科精准（北京）医疗科技有限公司 | The orthogonal plane scaling method and system of laser range finder and mechanical arm tail end relation |
| CN105737735A (en) * | 2016-03-08 | 2016-07-06 | 上海大学 | Portable self-calibration end performer repetition positioning precision measurement device and method |
| CN105737735B (en) * | 2016-03-08 | 2018-08-03 | 上海大学 | Portable self calibration end effector repetitive positioning accuracy measuring device and method |
| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| CN108613647A (en) * | 2018-07-02 | 2018-10-02 | 燕山大学 | Three-DOF planar parallel mechanism moving platform apparatus for detecting position and posture |
| CN108613647B (en) * | 2018-07-02 | 2020-02-25 | 燕山大学 | Three-degree-of-freedom plane parallel mechanism moving platform pose detection device |
| CN109719757A (en) * | 2019-03-07 | 2019-05-07 | 桂林电子科技大学 | Teaching Multi-freedom-degreemanipulator manipulator end pose measuring method |
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Application publication date: 20120725 |