CN104802802B - A kind of error identification method for swing arm caterpillar robot zero adjustment - Google Patents
A kind of error identification method for swing arm caterpillar robot zero adjustment Download PDFInfo
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- CN104802802B CN104802802B CN201410031222.XA CN201410031222A CN104802802B CN 104802802 B CN104802802 B CN 104802802B CN 201410031222 A CN201410031222 A CN 201410031222A CN 104802802 B CN104802802 B CN 104802802B
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- swing arm
- error
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- zero adjustment
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
Abstract
The invention discloses a kind of error identification method for swing arm caterpillar robot zero adjustment, the zero adjustment problem for considering and not considering drive mechanism hysterisis error should be included, assume that robot is located in sufficiently large plane environment, in the case of completely by track body support, track body is in horizontality, the final goal that invention is controlled according to swing arm caterpillar robot joint position is to realize adapting to supporting under different road surfaces and mobile demand this essence, fully borrow standard is close to horizontal plane landform this common scene, only need by the incremental encoder installed in motor shaft, any other position-detection sensor need not be installed, the zero adjustment in swing arm joint is capable of achieving.
Description
Technical field
The present invention relates to a kind of error identification method for swing arm caterpillar robot zero adjustment.
Background technology
For swing arm caterpillar robot, including track body realize mobile driving, by rotatable comprising 2 or 4
Swing arm constitute, swing arm position angle θ is generally needed according to crossing terrain environment real-time control, and swing arm position control is articulated type machine
A kind of special applications of structure, as the motorized motions scheme that jointed linkage is generally adopted, the at present drive of typical case's jointed linkage
Dynamic structure, be obtain joint absolute position θ be the precondition for realizing Accurate Position Control, joint transmission structure is by motor
Through shaft coupling, joint motions are driven by deceleration transmission device.Affect for factors such as cost, installing space, accuracy requirements, should
Class joint of robot generally obtains joint position information using the incremental encoder for being installed on motor shaft.The method is obtained for non-straight
Joint absolute position mode is taken, need to be solved two problems：On the one hand it is zero adjustment, i.e., as incremental encoder passes through pulse
Mode measurement axis relative position, it is therefore desirable to which zero adjustment is obtaining the absolute position in joint；On the other hand it is that driving error is surveyed
Amount, i.e., as the method is, by detecting motor shaft position, further according to theoretical gear ratio, to calculate indirectly control targe needs
Joint position, although motor shaft position can pass through to obtain very high positional accuracy measurement from high accuracy coding, cannot
Know the error brought to the drive mechanism in end joint due to motor, cause measured target positioning error not high,
And drive mechanism error is mainly hysterisis error, therefore how to obtain hysterisis error size be also to realize high precision position measurement institute
The key issue that need to be solved.
Wherein θ is the desired value joint position for needing to obtain, and Ψ is motor shaft position, it is assumed that the speed reducing ratio of deceleration transmission device
For N:1, in the case where encoder detection error and deceleration transmission error is not considered, the relation of θ and Ψ is：θ=Ψ/N is being examined
Considering error affects, it is assumed that the angle-measurement accuracy of incremental encoder is Δ Ψ, and deceleration transmission device hysterisis error is ΔΦ, then thus
The pose error for bringing is：Δ θ=Δ Ψ/N+ ΔΦs
From formula 2, when n is large (in practical application, generally>500) pass, brought by incremental encoder measurement error
Section site error affects very little, and the hysterisis error brought by deceleration transmission device is the key factor for affecting joint position precision.
Therefore recognize the error significant to improving accuracy of target measurement.
Current modal solution is to install absolute position encoder, rotational potentiometer, limit switch in joint shaft
Or the aided location sensor such as infrared switch, zero adjustment is realized, on the one hand this kind of method needs to install in joint position
Extra sensor, greatly reduces the motility of mechanism's design for the caterpillar robot for requiring compact conformation, while
Movable joint position introduces extra sensor and can reduce system reliability；On the other hand this method cannot solve deceleration transmission
The driving error identification problem brought by device.
The content of the invention
Present invention aim to address above-mentioned problem, there is provided the track machines of compact conformation can not only be reduced
The motility of mechanism's design of people, while introducing extra sensor in movable joint position can reduce system reliability；And
Solve a kind of mistake for swing arm caterpillar robot zero adjustment of the driving error identification problem brought by deceleration transmission device
Difference discrimination method.
The purpose of the present invention is realized as follows：A kind of error for swing arm caterpillar robot zero adjustment
Discrimination method, on the premise of including the zero adjustment problem for considering and not considering drive mechanism hysterisis error, it is assumed that robot
In sufficiently large plane environment, in the case of completely by track body support, track body is in horizontality,
If when step A, swing arm position | θ | ＜ 90+ α, wherein θ is swing arm position angle, and α is swing arm shape taper, then
Swing arm does not support track body, therefore in even rotary regimes, drives power needed for joint to be only to overcome joint transmission friction torque F；
Step B, as swing arm position | θ | >=90+ α, swing arm play a part of support track body, now drive joint not
Friction torque is needed only provide for, also needs gravitational torque G for overcoming track body deadweight to cause, i.e. joint drive torque to be F+G, by
It is much bigger in the torque G Relative friction torque F that when pendulum arm angle | θ | is near 90 °, gravity causes, so if swing arm
In at the uniform velocity rotation status, then | the θ | that exists=90+ alpha positions will produce the mutation to torque size requirement, thus can be used for determining
Swing arm absolute position point 90+ α, so as to effectively obtain the zero adjustment in swing arm joint；
Step C, the hysterisis error in transmission process is considered affect, due to the direction of the hysterisis error ΔΦ of drive mechanism
All the time it is identical with joint mechanics direction, hence with the different zero adjustment of positive negative direction, hysterisis error size can be obtained.
Above-mentioned a kind of error identification method for swing arm caterpillar robot zero adjustment, when swing arm is by positive fortune
During dynamic arrival forward direction zero-bit, it is considered to which error affects, motor side shaft angle degree is converted to angle at the end and is:θ 1=90+ α+ΔΦ.
A kind of above-mentioned error identification method for swing arm caterpillar robot zero adjustment, it is characterised in that：Work as pendulum
When arm reaches reverse zero-bit by adverse movement, it is considered to which error affects, motor side shaft angle degree is converted to angle at the end and is:θ 2=-
90-α-ΔΦ。
Above-mentioned a kind of error identification method for swing arm caterpillar robot zero adjustment, it is assumed that θ 1, θ 2 are corresponding
Encoder measurement is respectively β 1, β 2, then the corresponding encoder measurement of swing arm upright position zero-bit and drive mechanism backhaul is missed
Difference is respectively：θ 0=(β 1+ β 2)/2；ΔΦ=β 1- β 2-180-2 α；
Wherein β 1 and β 2 be by incremental encoder measured value, α for only with mechanism's shape relevant parameter, can disposable side
Just obtain, and same material object immobilizes.
A kind of above-mentioned error identification method for swing arm caterpillar robot zero adjustment, including A, robot is put down
It is placed on Farm Planning：Robot is placed in the arbitrary plane space that can keep flat support, plane inclination≤15 °；
B, moment of friction detection：First to be not more than 1/2 speed of motor amount, with velocity mode, swing arm is made in non-supported
Angle | θ |<10 ° or so angles are moved in the range of 90+ α continuously, while motor drive current is monitored, with at the uniform velocity rotation status
Average current is used as overcoming driving current IF needed for moment of friction；
C, positive zero testing：After completing step B, it is ensured that now swing arm switches still in non-supported angular range
Control model is current control mode, and maximal rate is limited in no more than 1/5 motor amount speed, and setting driving current is IF,
Swing arm positive movement is made, when judging that speed is kept to 0, is stopped more than can determine that after 3S that now swing arm position is positive reference position
90+ α, record current motor end incremental encoder measure positional value β 1, used as positive zero reference value；
D, reverse zero testing：After completing step C, other states keep constant, and setting driving current is-IF, makes pendulum
Arm adverse movement, when judging that speed is kept to 0, stops more than can determine that after 3S that now swing arm position is back-reference position -90-
α, record current motor end incremental encoder measure positional value β 2, used as reverse zero reference value；
E, result are calculated：According to θ 0=(β 1+ β 2)/2；It is corresponding that ΔΦ=β 1- β 2-180-2 α calculate swing arm zero-bit respectively
The hysterisis error ΔΦ of measurement value sensor θ 0 and drive mechanism.
A kind of above-mentioned error identification method for swing arm caterpillar robot zero adjustment, including:A, by robot
It is placed in the arbitrary plane space that can keep flat support, plane inclination≤15 °；
B, positive reference position detection：Robot is placed in the arbitrary plane space that can keep flat support, with velocity mode
Operation, makes swing arm first in non-supported angle | θ |<In the range of 80+ α, with 1/5 motor amount speed, rotate forward, while monitoring
The filtering driving current absolute value ICF1 after the low-pass filtering suitable with speed loop bandwidth is to motor drive current, when with ICF1
There are more than 2 times steps to be mutated as trigger source, the encoder measurement at the moment is recorded as reference position value β 1, then controlled
Swing arm is reversely rotated to starting point and is stopped；
C, the detection of back-reference position：After completing step B, control swing arm is reversely rotated with 1/5 motor amount speed,
The filtering driving current absolute value ICF2 after the low-pass filtering suitable with speed loop bandwidth is in monitoring simultaneously to motor drive current,
Be mutated as trigger source when there are more than 2 times steps using ICF2, the encoder measurement at the moment is recorded as reference position value β
2, then control swing arm reversely rotate to starting point stop；
D, result are calculated：According to θ 0=(β 1+ β 2)/2；It is corresponding that ΔΦ=β 1- β 2-180-2 α calculate swing arm zero-bit respectively
The hysterisis error ΔΦ of measurement value sensor θ 0 and drive mechanism.
Advantages of the present invention：1st, the present invention is realization according to the final goal that swing arm caterpillar robot joint position is controlled
Adapt to support under different road surfaces and mobile demand this essence, abundant borrow standard is close to this common field of horizontal plane landform
Scape, it is only necessary to by the incremental encoder installed in motor shaft, any other position-detection sensor need not be installed, you can realize pendulum
The zero adjustment of shoulder joint.
2nd, at the same using the method can it is conveniently recognized go out transmission process in error, realize that high-precision joint position is surveyed
Amount.In addition positive and negative zero-bit defined in the method is the spacing zero-bit of on-mechanical, in implementation process in zero-bit to part without impact
Destruction risk, with practical, realizes conveniently, high reliability.
Description of the drawings
In order that present disclosure is easier to be clearly understood, below according to specific embodiment and accompanying drawing is combined, it is right
The present invention is described in further detail, wherein
Fig. 1 is forward direction calibration structure schematic diagram of the invention；
Fig. 2 is reversely calibration structure schematic diagram of the invention；
Fig. 3 is simple pendulum arm caterpillar belt structure；
Reference：1st, track body, 2, swing arm.
Specific embodiment：
As shown in Fig. 1 and Fig. 2, a kind of error identification method for swing arm caterpillar robot zero adjustment, including should
On the premise of this includes the zero adjustment problem for considering and not considering drive mechanism hysterisis error, it is assumed that robot is located at enough
In big plane environment, in the case where being supported by track body 1 completely, track body 1 is in horizontality,
If when step A, 2 position | θ | ＜ 90+ α of swing arm, wherein θ is swing arm position angle, and α is 2 shape taper of swing arm,
Then swing arm 2 does not support track body 1, therefore in even rotary regimes, drives power needed for joint to be only to overcome joint transmission friction to turn
Square F；
Step B, as 2 position | θ | of swing arm >=90+ α, swing arm 2 play a part of support track body 1, now drive close
Section does not need only provide for friction torque, also needs gravitational torque G for overcoming the deadweight of track body 1 to cause, i.e. joint drive torque to be F
+ G, due to the torque G Relative friction torque F that when 2 angle | θ | of swing arm is near 90 °, gravity causes it is much bigger, therefore such as
Fruit swing arm 2 will produce the mutation to torque size requirement, thus may be used at the uniform velocity rotation status, then | the θ | that exists=90+ alpha positions
For determining 2 absolute position point 90+ α of swing arm, so as to effectively obtain the zero adjustment in 2 joint of swing arm；
Step C, the hysterisis error in transmission process is considered affect, due to the direction of the hysterisis error ΔΦ of drive mechanism
All the time it is identical with joint mechanics direction, hence with the different zero adjustment of positive negative direction, hysterisis error size can be obtained.
When swing arm 2 reaches positive zero-bit by positive movement, it is considered to which error affects, motor side shaft angle degree is converted to end
Angle is:θ 1=90+ α+ΔΦ.When swing arm (2) reaches reverse zero-bit by adverse movement, it is considered to which error affects, motor side
Shaft angle degree is converted to angle at the end:θ 2=-90- α-ΔΦ.Assume that θ 1,2 corresponding encoder measurements of θ are respectively β 1, β 2,
Then the corresponding encoder measurement of swing arm upright position zero-bit and drive mechanism hysterisis error are respectively：θ 0=(β 1+ β 2)/2；Δ
Φ=β 1- β 2-180-2 α；Wherein β 1 and β 2 be by incremental encoder measured value, α for only with mechanism's shape relevant parameter, can
Obtained with disposable and convenient, and same material object immobilizes.
Embodiment 1
The artificial simple pendulum arm caterpillar belt structure of machine is only assumed that, as shown in figure 3, i.e. swing arm only has a movable joint, if
Multiple joints, operational approach are the same, can need not wait for one by one while implement in the case where activity space is not interfered,
A kind of implementation steps of accurate detecting method are：Farm Planning is lain in including A, by robot：Robot is placed in and can be put down
Put the arbitrary plane space of support, plane inclination≤15 °；
B, moment of friction detection：First to be not more than 1/2 speed of motor amount, with velocity mode, swing arm is made in non-supported
Angle | θ |<10 ° or so angles are moved in the range of 90+ α continuously, while motor drive current is monitored, with at the uniform velocity rotation status
Average current is used as overcoming driving current IF needed for moment of friction；
C, positive zero testing：After completing step B, it is ensured that now swing arm switches still in non-supported angular range
Control model is current control mode, and maximal rate is limited in no more than 1/5 motor amount speed, and setting driving current is IF,
Swing arm positive movement is made, when judging that speed is kept to 0, is stopped more than can determine that after 3S that now swing arm position is positive reference position
90+ α, record current motor end incremental encoder measure positional value β 1, used as positive zero reference value；
D, reverse zero testing：After completing step C, other states keep constant, and setting driving current is-IF, makes pendulum
Arm adverse movement, when judging that speed is kept to 0, stops more than can determine that after 3S that now swing arm position is back-reference position -90-
α, record current motor end incremental encoder measure positional value β 2, used as reverse zero reference value；
E, result are calculated：According to θ 0=(β 1+ β 2)/2；It is corresponding that ΔΦ=β 1- β 2-180-2 α calculate swing arm zero-bit respectively
The hysterisis error ΔΦ of measurement value sensor θ 0 and drive mechanism.
Embodiment 2
Including:A, robot is placed in the arbitrary plane space that can keep flat support, plane inclination≤15 °；B, forward direction
Detect reference position：Robot is placed in the arbitrary plane space that can keep flat support, is run with velocity mode, is made swing arm first
In non-supported angle | θ |<In the range of 80+ α, with 1/5 motor amount speed, rotate forward, while monitoring is to motor drive current
The filtering driving current absolute value ICF1 after the low-pass filtering suitable with speed loop bandwidth is, when with ICF1 more than 2 times ranks of appearance
Jump mutation records the encoder measurement at the moment as reference position value β 1 as trigger source, then controls swing arm reverse rotation
Stop to starting point；
C, the detection of back-reference position：After completing step B, control swing arm is reversely rotated with 1/5 motor amount speed,
The filtering driving current absolute value ICF2 after the low-pass filtering suitable with speed loop bandwidth is in monitoring simultaneously to motor drive current,
Be mutated as trigger source when there are more than 2 times steps using ICF2, the encoder measurement at the moment is recorded as reference position value β
2, then control swing arm reversely rotate to starting point stop；
D, result are calculated：According to θ 0=(β 1+ β 2)/2；It is corresponding that ΔΦ=β 1- β 2-180-2 α calculate swing arm zero-bit respectively
The hysterisis error ΔΦ of measurement value sensor θ 0 and drive mechanism.
Particular embodiments described above, has been carried out to the purpose of the present invention, technical scheme and beneficial effect further in detail
Describe bright, the be should be understood that specific embodiment that the foregoing is only the present invention in detail, be not limited to the present invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (6)
1. a kind of error identification method for swing arm caterpillar robot zero adjustment, including：Do not considering drive mechanism time
On the premise of journey error, it is assumed that robot is located in sufficiently large plane environment, in situation about being supported by track body (1) completely
Under, track body (1) in horizontality,
If during | θ | the ＜ 90+ α of swing arm (2) position, wherein θ be swing arm position angle, α be swing arm (2) shape taper, then swing arm
(2) track body (1) is not supported, therefore in even rotary regimes, drives power needed for joint to be only to overcome joint transmission friction torque
F；
As swing arm (2) position | θ | >=90+ α, swing arm (2) is played a part of to support track body (1), now drives joint not
Friction torque is needed only provide for, also needs gravitational torque G for overcoming track body (1) deadweight to cause, i.e. joint drive torque to be F+
G, due to the torque G Relative friction torque F that when swing arm (2) angle | θ | is near 90 °, gravity causes it is much bigger, therefore such as
Fruit swing arm (2) will produce the mutation to torque size requirement at the uniform velocity rotation status, then | the θ | that exists=90+ alpha positions, thus
Can be used to determine swing arm (2) absolute position point 90+ α, so as to effectively obtain the zero adjustment in swing arm (2) joint；
Consider transmission process in hysterisis error affect, due to drive mechanism hysterisis error ΔΦ direction all the time with joint
Impact direction is identical, hence with the different zero adjustment of positive negative direction, obtains hysterisis error size.
2. a kind of error identification method for swing arm caterpillar robot zero adjustment according to claim 1, which is special
Levy and be：When swing arm (2) reaches positive zero-bit by positive movement, it is considered to which error affects, motor side shaft angle degree is converted to end
End angle be:θ 1=90+ α+ΔΦ.
3. a kind of error identification method for swing arm caterpillar robot zero adjustment according to claim 2, which is special
Levy and be：When swing arm (2) reaches reverse zero-bit by adverse movement, it is considered to which error affects, motor side shaft angle degree is converted to end
End angle be:θ 2=-90- α-ΔΦ.
4. a kind of error identification method for swing arm caterpillar robot zero adjustment according to claim 3, which is special
Levy and be：Assume that θ 1,2 corresponding encoder measurements of θ are respectively β 1, β 2, then the corresponding encoder of swing arm upright position zero-bit
Measured value and drive mechanism hysterisis error are respectively：θ 0=(β 1+ β 2)/2；ΔΦ=β 1- β 2-180-2 α；
Wherein β 1 and β 2 be by incremental encoder measured value, α for only with mechanism's shape relevant parameter, can be obtained with disposable and convenient
Take, and same material object immobilizes.
5. a kind of error identification method for swing arm caterpillar robot zero adjustment according to claim 4, which is special
Levy and be：Farm Planning is lain in including A, by robot：Robot is placed in the arbitrary plane space that can keep flat support, is put down
Plane inclination≤15 °；
B, moment of friction detection：First to be not more than 1/2 speed of motor amount, with velocity mode, swing arm is made in non-supported angle |
θ|<Continuous 10 ° or so angles of motion in the range of 90+ α, while monitor motor drive current, with the uniform velocity rotation status under it is average
Electric current is used as overcoming driving current IF needed for moment of friction；
C, positive zero testing：After completing step B, it is ensured that now swing arm still in non-supported angular range, switching control
Pattern is current control mode, and maximal rate is limited in no more than 1/5 motor amount speed, and setting driving current is IF, makes pendulum
Arm positive movement, when judging that speed is kept to 0, stops more than can determine that after 3S that now swing arm position is forward direction reference position 90+
α, record current motor end incremental encoder measure positional value β 1, used as positive zero reference value；
D, reverse zero testing：After completing step C, other states keep constant, and setting driving current is-IF, makes swing arm anti-
To motion, when judging that speed is kept to 0, stop more than can determine that after 3S that now swing arm position is back-reference position -90- α, note
Record current motor end incremental encoder measures positional value β 2, used as reverse zero reference value；
E, result are calculated：According to θ 0=(β 1+ β 2)/2；ΔΦ=β 1- β 2-180-2 α calculate the corresponding sensing of swing arm zero-bit respectively
The hysterisis error ΔΦ of device measured value θ 0 and drive mechanism.
6. a kind of error identification method for swing arm caterpillar robot zero adjustment according to claim 4, which is special
Levy is to include:A, robot is placed in the arbitrary plane space that can keep flat support, plane inclination≤15 °；
B, positive reference position detection：Robot is placed in the arbitrary plane space that can keep flat support, is run with velocity mode,
Swing arm is made first in non-supported angle | θ |<In the range of 80+ α, with 1/5 motor amount speed, rotate forward, while monitoring is to electricity
Machine driving current is the filtering driving current absolute value ICF1 after the low-pass filtering suitable with speed loop bandwidth, when occurring with ICF1
More than 2 times steps are mutated as trigger source, are recorded the encoder measurement at the moment as reference position value β 1, then are controlled swing arm
Reversely rotate to starting point and stop；
C, the detection of back-reference position：After completing step B, control swing arm is reversely rotated with 1/5 motor amount speed, while
The filtering driving current absolute value ICF2 after the low-pass filtering suitable with speed loop bandwidth is in monitoring to motor drive current, when with
There are more than 2 times steps and is mutated as trigger source in ICF2, records the encoder measurement at the moment as reference position value β 2, then
Control swing arm is reversely rotated to starting point and is stopped；
D, result are calculated：According to θ 0=(β 1+ β 2)/2；ΔΦ=β 1- β 2-180-2 α calculate the corresponding sensing of swing arm zero-bit respectively
The hysterisis error ΔΦ of device measured value θ 0 and drive mechanism.
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| CN106627820A (en) * | 2016-12-19 | 2017-05-10 | 安徽天裕汽车零部件制造有限公司 | Crawler robot swing arm driving device |
| JP6512456B2 (en) * | 2016-12-27 | 2019-05-15 | トヨタ自動車株式会社 | Calibration jig and method for horizontally articulated robot |
| CN107086835B (en) * | 2017-05-26 | 2023-12-15 | 深圳市大地和电气股份有限公司 | Permanent magnet synchronous motor rotation initial zero-potential angle calibration system and calibration method |
| CN110081814A (en) * | 2019-06-05 | 2019-08-02 | 迈柯唯医疗设备(苏州)有限公司 | A kind of operating bed backboard angle measuring mechanism |
| CN112650014B (en) * | 2020-12-24 | 2022-02-22 | 四川长虹电器股份有限公司 | Method for calculating return stroke error of focusing motor of projection equipment and projection control system |
| CN113119130B (en) * | 2021-04-28 | 2022-04-15 | 浙江大学 | Geometric error identification method for industrial robot |
| CN113804099B (en) * | 2021-07-21 | 2023-05-23 | 安徽哈工标致医疗健康产业有限公司 | Multi-sensor fusion angle detection system and method for upper and lower limb rehabilitation equipment |
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| CN1246087A (en) * | 1997-01-29 | 2000-03-01 | 株式会社安川电机 | Device and method for calibrating robot |
| CN101367207A (en) * | 2008-09-26 | 2009-02-18 | 郭长青 | Miniature self-service ground robot |
| CN201380887Y (en) * | 2009-03-27 | 2010-01-13 | 孝感三江航天红林模具制造有限公司 | Vehicle body chassis of robot |
| CN101685026A (en) * | 2008-09-24 | 2010-03-31 | 三一重工股份有限公司 | Method and device for calibrating zero position output value of sensitive shaft of tilt angle sensor |
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| US7654348B2 (en) * | 2006-10-06 | 2010-02-02 | Irobot Corporation | Maneuvering robotic vehicles having a positionable sensor head |
| JP2010017032A (en) * | 2008-07-04 | 2010-01-21 | Honda Motor Co Ltd | Stator for rotary electric machine and motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1246087A (en) * | 1997-01-29 | 2000-03-01 | 株式会社安川电机 | Device and method for calibrating robot |
| CN101685026A (en) * | 2008-09-24 | 2010-03-31 | 三一重工股份有限公司 | Method and device for calibrating zero position output value of sensitive shaft of tilt angle sensor |
| CN101367207A (en) * | 2008-09-26 | 2009-02-18 | 郭长青 | Miniature self-service ground robot |
| CN201380887Y (en) * | 2009-03-27 | 2010-01-13 | 孝感三江航天红林模具制造有限公司 | Vehicle body chassis of robot |
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