CN108000560A - A kind of transplanter manipulator vibration detection device and detection method - Google Patents

A kind of transplanter manipulator vibration detection device and detection method Download PDF

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CN108000560A
CN108000560A CN201711473422.0A CN201711473422A CN108000560A CN 108000560 A CN108000560 A CN 108000560A CN 201711473422 A CN201711473422 A CN 201711473422A CN 108000560 A CN108000560 A CN 108000560A
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module
sensitive detectors
psd
manipulator
position sensitive
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CN108000560B (en
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庞靖
陈凯康
金鑫
姬江涛
胡双卫
姚昊明
张洋
谢东
李衡金
张志毅
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Henan University of Science and Technology
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Henan University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

A kind of transplanter manipulator vibration detection device, including the detection device for inspecting manipuator Vibration Condition and the control system for being analyzed and processed to the testing result of detection device, the detection device includes the cross laser device being arranged on transplanter manipulator clamping jaw and the PSD position sensitive detectors being arranged on transplant machine rack baffle, the control system includes the movement locus parsing module parsed to the signal of PSD position sensitive detectors detection, the processor module handled the vibration signal of movement locus parsing module parsing, signal conversion module, abnormal vibration alarm module and power module.Beneficial effect of the present invention：Facilitate staff to measure vibration, reduce influence of the vibration to manipulator transplanting efficiency, reduce cost, there is good application prospect in terms of agricultural machinery vibration detection.

Description

A kind of transplanter manipulator vibration detection device and detection method
Technical field
The present invention relates to transplanting machine field, specifically a kind of transplanter manipulator vibration detection device and detection side Method.
Background technology
During transplanting, manipulator plays an important role automatic vegetable transplanter.When transplanter is started to work, machine The action that tool hand needs to complete mainly includes：Seedling taking, throw seedling.Uniformly, without lodging it is transplanted in order to reach vegetables in soil, Manipulator needs to accomplish accurately to grip out dish seedling from seedlings nursing plate, and can accurately be launched duckbilled and hung in cup, Make duckbilled hang cup to work together with suppression of soil wheel, the intact transplanting of vegetables is finished.
If during robot work, manipulator is shaken, and can not only influence to press from both sides seedling, throw seedling inaccuracy, also It by the cauline leaf sliding trackle of vegetable seedling or can be broken during shake, influence vegetable transplanting effect and survival rate.Furthermore manipulator Structure is complex, constantly repeatedly in vibration processes, can cause connection loosing, if checked not in time, once occur compared with Big vibration, manipulator break down, and maintenance cost is higher, time-consuming and laborious.If vibration source appears in some of manipulator at the same time Stress point, feature contacts point, vibrations can cause manipulator fatigue failure occur and be broken, and peasant need to contact producer and be replaced, Very big inconvenience is brought to peasant.
In current vibration detection device, the rare vibration detection device to vegetable transplanting machinery hand.At present to vibration Context of detection frequently with vibration measuring method be traditional contact type measurement, optical interference vibration measuring technology, resonant method technology etc.. Shaft vibration detector disclosed in patent CN201310605976, use is exactly contact type measurement, its principle is mechanical oscillation Shaft surface promotes sliding block movement, and the movement of sliding block makes the resistor disc of installation in the trench that stretching and compression occur, by by electricity Resistance piece is connected with resistance test instrument, obtains vibratory output.These methods are in measurement accuracy, the complexity of measuring condition and equipment It cannot all meet the measurement request of vegetable transplanting machinery hand vibration.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of transplanter manipulator vibration detection device and detection method, Solve the deficiencies in the prior art, real-time inspecting manipuator vibratory output and and alarm.
The present invention is that technical solution is used by solving above-mentioned technical problem：A kind of transplanter manipulator vibration detection dress Put, including detection device for inspecting manipuator Vibration Condition and for being carried out to the testing result of detection device at analysis The control system of reason, the detection device include the cross laser device being arranged on transplanter manipulator clamping jaw and are arranged at shifting PSD position sensitive detectors on cultivation machine rack baffle；The control system is included to the detection of PSD position sensitive detectors The processing that movement locus parsing module that signal is parsed, the vibration signal to the parsing of movement locus parsing module are handled Device module, signal conversion module, abnormal vibration alarm module and power module, the PSD position sensitive detectors and movement Track parsing module connection, movement locus parsing module are connected with processor module, and processor module passes through signal conversion module It is connected with abnormal vibration alarm module, the power module is movement locus parsing module, processor module, signal modulus of conversion Block, abnormal vibration alarm module provide electric energy.
The PSD position sensitive detectors are two, the PSD positions being respectively arranged in rack baffle horizontal direction Sensitive detectorsxWith the PSD position sensitive detectors being arranged on rack baffle vertical directiony, PSD position sensitive detectorsx With PSD position sensitive detectorsyThe center line of setting at a right angle and two PSD position sensitive detectors is sent out with cross laser device Two light penetrated overlap.
The PSD position sensitive detectors, movement locus parsing module, processor module, signal conversion module, vibration are different Often the connection mode between alarm module and power module is wired connection.
The processor module includes manipulator motion trace data storehouse without friction, signal contrast system, information output dress Put.
The method being detected using transplanter manipulator vibration detection device, is comprised the following steps：
Step 1: cross laser device, in robot movement, real time emission, which goes out cross light and is irradiated to, is arranged on rack baffle On PSD position sensitive detectors on；
Step 2: the cross light of cross laser device transmitting deviates PSD position sensitive detectors center lines, the detection of PSD position sensings DevicexWith PSD position sensitive detectorsyDetect the signal and respectively output current signalI x WithI y To movement locus parsing module；
Step 3: movement locus parsing module carries out parsing according to the current signal of PSD position sensitive detectors transmission draws machine The offset of tool hand horizontal direction and vertical directionxAndy, i.e. manipulator is in the moment corresponding coordinates of motion, and by the coordinate It is delivered to processor module；
Step 4: the coordinates of motion that processor module inputs movement locus parsing module in step 3 and the machinery that pre-enters Hand motion trace data storehouse without friction is compared, if the threshold value in database, intercepts the wave band that this section exceedes threshold value； If without the threshold value exceeded in database, it is not responding to；
Step 5：The wave band beyond threshold value exported in step 4 is by the filtering in signal conversion module, amplification, analog-to-digital conversion Electric signal output is alarmed to abnormal vibration alarm module afterwards.
The method being detected using transplanter manipulator vibration detection device, movement locus parsing module according to The current signal of PSD position sensitive detectors transmission carries out parsing and draws manipulator horizontal direction and the offset of vertical directionx AndySpecific method be to be calculated by the following formula：
；
WhereinLFor PSD position sensitive detectorsxWith PSD position sensitive detectorsyThe distance between output terminal,I 0 For PSD positions Sensitive detectorsxWith PSD position sensitive detectorsyThe sum of electric current of output terminal.
The beneficial effects of the invention are as follows：The present invention is synchronized with the movement according to cross laser device with manipulator, in real time reflection machinery The characteristics of hand Vibration Condition, and using PSD displacements sensitive detectors for the sensitivity of position, the characteristic such as be swift in response by manipulator Motion conditions do preliminary detection, recycle follow-up movement locus parsing module, processor module, info conversion module and Vibration Condition is reflected to staff by abnormal vibrations alarm module, prompts whether staff needs to examine manipulator Repair；Handling result is simple and clear, facilitates staff to measure vibration, reduces shadow of the vibration to manipulator transplanting efficiency Ring, reduce cost, there is good application prospect in terms of agricultural machinery vibration detection.
Brief description of the drawings
Fig. 1 is mounting structure schematic diagram of the present invention；
Fig. 2 is cross laser device light of the present invention and PSD position sensitive detectors relative position schematic diagrames；
Fig. 3 is control system flow diagram of the present invention；
Fig. 4 is the manipulator movement without friction preserved in the manipulator motion trace data storehouse without friction of processor module of the present invention Track and the schematic diagram of its threshold value.
Marked in figure：1st, manipulator, 2, cross laser device, 3, cross laser device sleeve, 4, PSD position sensitive detectors, 401st, PSD position sensitive detectorsx, 402, PSD position sensitive detectorsy, 5, rack baffle, 6, rotating mechanism, 701, vibration Low extreme value, 702, manipulator movement locus without friction, 703, vibration limes superiors.
Embodiment
As shown in the figure, a kind of transplanter manipulator vibration detection device, including the inspection for 1 Vibration Condition of inspecting manipuator Device and the control system for being analyzed and processed to the testing result of detection device are surveyed, the detection device includes setting Examined in the cross laser device 2 on 1 clamping jaw of transplanter manipulator and the PSD position sensings being arranged on transplant machine rack baffle 5 Device 4 is surveyed, is installed between 1 clamping jaw of cross laser device 2 and manipulator by cross laser device sleeve 3, cross laser device sleeve 3 is circle Cylindricality, is provided with a blind hole identical with 2 size of cross laser device, 3 sleeve outer wall of cross laser device sleeve in cylindrical sleeve Threaded hole is radially provided with same busbar, by meltability glue sticking on manipulator clamping jaw, cross laser device 2 is inserted in sleeve In cylinder, meanwhile, then trip bolt is threaded into hole, trip bolt is withstood cross laser device 2, fix it.
The cross light one that cross laser device 2 is launched is horizontal, and one is in vertical position, described PSD position sensitive detectors 4 are two, are respectively arranged in 5 horizontal direction of rack baffle in 1 horizontal direction of inspecting manipuator The PSD position sensitive detectors of Vibration Conditionx401 and it is arranged at 1 vertical direction of inspecting manipuator on 5 vertical direction of rack baffle The PSD position sensitive detectors of upper Vibration Conditiony402, PSD position sensitive detectorsx401 and PSD position sensitive detectorsyThe center line of 402 settings at a right angle and two PSD position sensitive detectors 4 and the work starting point cross laser device of manipulator 1 Two light of 2 transmittings are respectively superposed, it means that the point are defined as to the coordinate origin of 1 movement locus of manipulator, in machinery The cross light that cross laser device 2 is launched in motion process after hand 1 will deviate with the center line of PSD position sensitive detectors 4, So as to which PSD position sensitive detectors 4 detect the light at diverse location, produce different photoelectrons and exported from two output terminals.
Further, the control system includes the movement parsed to the signal that PSD position sensitive detectors 4 detect Processor module, the signal modulus of conversion that track parsing module, the vibration signal to the parsing of movement locus parsing module are handled Block, abnormal vibration alarm module and power module, the PSD position sensitive detectors 4 are connected with movement locus parsing module, Movement locus parsing module is connected with processor module, and processor module passes through signal conversion module and abnormal vibration alarm module Connection, the power module is movement locus parsing module, processor module, signal conversion module, abnormal vibration alarm module Electric energy is provided, the movement locus parsing module is to be parsed to obtain by the current signal that PSD position sensitive detectors export Deviate the value of the x and y of the PSD position sensitive detectors center lines of horizontal, vertical both direction, so as to draw cross laser device 2 Position coordinates, the processor module includes manipulator motion trace data storehouse without friction, signal contrast system and information Output device, input wherein manipulator 1 it is without friction in the case of movement locus and demarcate oscillating region, i.e., with manipulator without shaking Move the equidistant threshold value track in the track of movement.
For PSD position sensitive detectors 4, mainly pass through the incident light conversion fallen on PSD position sensitive detectors 4 Into after photoelectron, detected by two end electrodes in P-type layer and form photoelectric current, electric charge is collected by p-type resistive layer by electrode, different The corresponding output current of light source incidence point of position is different, so as to reach the effect of position sensing, P-type layer is the electricity of uniform one Resistance layer, is inversely proportional by the photoelectric current that electrode is collected into and incidence point and electrode spacing.
Further, the signal conversion module includes：Filter circuit, amplifying circuit, A/D conversion circuits.The filter The mixed and disorderly electric signal that wave circuit exports processor module filters out a part, obtains an analog signal, then by amplification electricity Road converts analog signals into digital signal by its voltage amplification, then by A/D conversions.
Further, the PSD position sensitive detectors, movement locus parsing module, processor module, signal modulus of conversion Connection mode between block, abnormal vibration alarm module and power module is wired connection, is conducive to PSD position sensings Vibratory output that detector captures in time, rapidly reflect in processor module so that processor module is in time to corresponding Vibration signal be compared and judge and alarmed in time by abnormal vibration alarm module.
Further, the processor module include manipulator motion trace data storehouse without friction, signal contrast system and Information output apparatus.
Semiconductor light electric position sensor（That is PSD）It is a kind of novel semi-conductor optoelectronic position based on lateral photo effect Sensitive sensor.It in addition to the positioning performance with photodiode array and CCD, also with high sensitivity, high resolution, The features such as fast response time, simple circuit configuration, thus be valued by the people.The development trend of PSD is high-resolution, High Linear The multifunctional units such as degree, fast-response and signal acquisition process.
PSD can be divided into one-dimensional PSD and Two-dimensional PSD.One-dimensional PSD can measure the one-dimensional position coordinate of luminous point, and Two-dimensional PSD can Survey the plan-position coordinate of luminous point.The design feature is to form airborne sensor battle array with two or more pieces one-dimensional PSD sensor Row, measure mobile light point plane position coordinates.For the conventional two-dimensional that compares PSD sensors, the scope bigger that can measure, energy Meet to measure under the conditions of agricultural mechanical operation with good.
The method being detected using the transplanter manipulator vibration detection device, is drawn to eliminate transplanting machine travel The vibration risen, causes measurement result unnecessary influence, by only realizing robot movement, and what hitching machinery did not advanced Operating mode is detected, and is comprised the following steps：
Step 1: cross laser device 2, when manipulator 1 moves, real time emission, which goes out cross light and is irradiated to, is arranged on rack gear On PSD position sensitive detectors 4 on plate 5；
Step 2: the cross light that cross laser device 2 is launched deviates 4 center line of PSD position sensitive detectors, the inspection of PSD position sensings Survey devicex401 and PSD position sensitive detectorsy402 detect the signal and respectively output current signalI x WithI y To movement locus Parsing module；
Step 3: movement locus parsing module carries out parsing according to the current signal that PSD position sensitive detectors 4 transmit draws machine The offset of 1 horizontal direction of tool hand and vertical directionxAndy, i.e., manipulator 1 is in the moment corresponding coordinates of motion, and this is sat Mark is delivered to processor module, and parsing draws 1 horizontal direction of manipulator and the offset of vertical directionxAndY'sSpecific method is, It is calculated by the following formula：
；
WhereinLFor PSD position sensitive detectorsxWith PSD position sensitive detectorsyThe distance between output terminal,I 0 For PSD positions Sensitive detectorsxWith PSD position sensitive detectorsyThe sum of electric current of output terminal；
Step 4: the coordinates of motion that processor module inputs movement locus parsing module in step 3 and the machinery that pre-enters Hand motion trace data storehouse without friction is compared, if the threshold value in database, intercepts the wave band that this section exceedes threshold value； If without the threshold value exceeded in database, it is not responding to；
Step 5：The wave band beyond threshold value exported in step 4 is by the filtering in signal conversion module, amplification, analog-to-digital conversion Electric signal output is alarmed to abnormal vibration alarm module afterwards.
Further, the electric current that movement locus parsing module is transmitted according to PSD position sensitive detectors 4 in the step 3 is believed Number carry out parsing and draw 1 horizontal direction of manipulator and the offset of vertical directionxAndySpecific method be：In PSD position sensings Photoelectric current is produced on two parallel poles on detector x surfaces isI 1 WithI 2 If total photogenerated current isI, thenI=I 1 +I 2 ,I 1 WithI 2 Size and light beam be irradiated to PSD position sensitive detectorsxThe distance of position to two output electrodes on photosurface is inversely proportional, I.e.：
,
In formula,L 1 For PSD position sensitive detectorsxMidpoint to electrode distance,It is cross laser device incidence luminous point away from PSD Put sensitive detectorsxThe relative displacement at midpoint, by formulaI=I 1 +I 2 Above formula is substituted into, is obtained：
Thus the horizontal direction offset of luminous point can be drawn；
It similarly can also draw manipulator vertical direction offsety=y A +L 1 , whereiny A It is cross laser device incidence luminous point away from PSD Put sensitive detectorsyThe relative displacement at midpoint.
Transplanter is equipped with rotating mechanism 6, and rotating mechanism 6 includes：Power intake, power output end, rotating mechanism 6 Power intake connects the energy source device of transplanter, power output end connection manipulator 1, and the energy source device of transplanter passes power Rotating mechanism power intake is delivered to, rotates rotating mechanism 6, installed in the manipulator 1 of the power output end of rotating mechanism 6 Rotated with rotating mechanism 6, i.e., the movement locus of manipulator 1 is a circumference.
It is important to note that in order to describe conveniently, Robotic Manipulator Motion Trajectory is discussed as circular trace herein, it is actual Upper 1 movement locus of manipulator is the closed curve of similar ellipse, but also corresponds to the present embodiment.

Claims (7)

  1. A kind of 1. transplanter manipulator vibration detection device, it is characterised in that：Including for inspecting manipuator（1）Vibration Condition Detection device and the control system for being analyzed and processed to the testing result of detection device, the detection device include setting It is placed in transplanter manipulator（1）Cross laser device on clamping jaw（2）And it is arranged at transplant machine rack baffle（5）On PSD positions Put sensitive detectors（4）；
    The control system is included to PSD position sensitive detectors（4）The movement locus parsing that the signal of detection is parsed Module, to movement locus parsing module parsing vibration signal handled processor module, signal conversion module, vibration it is different Normal alarm module and power module, the PSD position sensitive detectors（4）It is connected with movement locus parsing module, moves rail Mark parsing module is connected with processor module, and processor module is connected by signal conversion module with abnormal vibration alarm module, The power module is movement locus parsing module, processor module, signal conversion module, abnormal vibration alarm module provide electricity Energy.
  2. A kind of 2. transplanter manipulator vibration detection device according to claim 1, it is characterised in that：The PSD positions Put sensitive detectors（4）For two, rack baffle is respectively arranged at（5）PSD position sensitive detectors in horizontal directionx （401）Be arranged at rack baffle（5）PSD position sensitive detectors on vertical directiony（402）, PSD position sensitive detectorsx（401）With PSD position sensitive detectorsy（402）It is at a right angle set and the center line of two PSD position sensitive detectors with Cross laser device（2）Two light of transmitting overlap.
  3. A kind of 3. transplanter manipulator vibration detection device according to claim 1, it is characterised in that：The PSD positions Sensitive detectors, movement locus parsing module, processor module, signal conversion module, abnormal vibration alarm module and power supply Connection mode between module is wired connection.
  4. A kind of 4. transplanter manipulator vibration detection device according to claim 1, it is characterised in that：The processor die Block includes manipulator motion trace data storehouse without friction, signal contrast system and information output apparatus.
  5. 5. the method being detected using the transplanter manipulator vibration detection device described in claim 2, it is characterised in that：Bag Include following steps：
    Step 1: cross laser device（2）In manipulator（1）During movement, real time emission goes out cross light and is irradiated to the machine of being arranged on Frame baffle（5）On PSD position sensitive detectors（4）On；
    Step 2: cross laser device（2）The cross light of transmitting deviates PSD position sensitive detectors（4）Center line, PSD positions are quick Feel detectorx（401）With PSD position sensitive detectorsy（402）Detect the signal and respectively output current signalI x WithI y Extremely Movement locus parsing module；
    Step 3: movement locus parsing module is according to PSD position sensitive detectors（4）The current signal of transmission carries out parsing and draws Manipulator（1）The offset of horizontal direction and vertical directionxAndy, i.e. manipulator（1）In the moment corresponding coordinates of motion, and The coordinate is delivered to processor module；
    Step 4: the coordinates of motion that processor module inputs movement locus parsing module in step 3 and the machinery that pre-enters Hand motion trace data storehouse without friction is compared, if the threshold value in database, intercepts the wave band that this section exceedes threshold value； If without the threshold value exceeded in database, it is not responding to；
    Step 5：The wave band beyond threshold value exported in step 4 is by the filtering in signal conversion module, amplification, analog-to-digital conversion Electric signal output is alarmed to abnormal vibration alarm module afterwards.
  6. 6. the transplanter manipulator vibration detection device according to claim 5 using described in claim 2 is detected Method, it is characterised in that：The movement locus parsing module is according to PSD position sensitive detectors（4）The current signal of transmission Carry out parsing and draw manipulator（1）The offset of horizontal direction and vertical directionxAndySpecific method be, by the following formula meter Obtain：
    ；
    WhereinLFor PSD position sensitive detectorsxWith PSD position sensitive detectorsyThe distance between output terminal,I 0 For PSD positions Sensitive detectorsxWith PSD position sensitive detectorsyThe sum of electric current of output terminal.
  7. 7. the transplanter manipulator vibration detection device according to claim 5 using described in claim 2 is detected Method, it is characterised in that：The movement locus parsing module is according to PSD position sensitive detectors（4）The current signal of transmission Carry out parsing and draw manipulator（1）The offset of horizontal direction and vertical directionxAndySpecific method be：In PSD position sensings DetectorxPhotoelectric current is produced on two parallel poles on surface isI 1 WithI 2 If total photogenerated current isI, thenI=I 1 +I 2 ,I 1 WithI 2 Size and light beam be irradiated to PSD position sensitive detectorsxThe distance of position to two output electrodes on photosurface is inversely proportional, I.e.：
    ,
    In formula,L 1 For PSD position sensitive detectorsxMidpoint to electrode distance,It is cross laser device incidence luminous point away from PSD Put sensitive detectorsxThe relative displacement at midpoint, by formulaI=I 1 +I 2 Above formula is substituted into, is obtained：
    Thus the horizontal direction offset of luminous point can be drawn；
    It similarly can also draw manipulator vertical direction offsety=y A +L 1 , whereiny A It is cross laser device incidence luminous point away from PSD Put sensitive detectorsyThe relative displacement at midpoint.
CN201711473422.0A 2017-12-29 2017-12-29 Transplanting machine manipulator vibration detection device and detection method Active CN108000560B (en)

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Publication number Priority date Publication date Assignee Title
CN110186550A (en) * 2019-06-17 2019-08-30 合肥美的智能科技有限公司 Detection device, method for determining vibration level, vending device, and storage medium
CN112659145A (en) * 2020-12-15 2021-04-16 河南科技大学 PSD-based seedling taking manipulator motion detection device and method
CN116076183A (en) * 2023-02-21 2023-05-09 江苏金云农业装备有限公司 Agricultural rotary cultivator with fertilizing mechanism
CN116277161A (en) * 2023-05-25 2023-06-23 山东中济鲁源机械有限公司 Mechanical arm dynamic deviation monitoring system based on three-dimensional model coordinates

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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN110186550A (en) * 2019-06-17 2019-08-30 合肥美的智能科技有限公司 Detection device, method for determining vibration level, vending device, and storage medium
CN110186550B (en) * 2019-06-17 2021-09-24 合肥美的智能科技有限公司 Detection device, method for determining vibration level, vending device, and storage medium
CN112659145A (en) * 2020-12-15 2021-04-16 河南科技大学 PSD-based seedling taking manipulator motion detection device and method
CN112659145B (en) * 2020-12-15 2022-09-02 河南科技大学 PSD-based seedling taking manipulator motion detection device and method
CN116076183A (en) * 2023-02-21 2023-05-09 江苏金云农业装备有限公司 Agricultural rotary cultivator with fertilizing mechanism
CN116076183B (en) * 2023-02-21 2023-09-26 江苏金云农业装备有限公司 Agricultural rotary cultivator with fertilizing mechanism
CN116277161A (en) * 2023-05-25 2023-06-23 山东中济鲁源机械有限公司 Mechanical arm dynamic deviation monitoring system based on three-dimensional model coordinates
CN116277161B (en) * 2023-05-25 2023-12-08 山东理工职业学院 Mechanical arm dynamic deviation monitoring system based on three-dimensional model coordinates

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