CN109291051A - A kind of series-parallel robot terminal angle closed loop control method angle sensor based - Google Patents
A kind of series-parallel robot terminal angle closed loop control method angle sensor based Download PDFInfo
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- CN109291051A CN109291051A CN201811248136.9A CN201811248136A CN109291051A CN 109291051 A CN109291051 A CN 109291051A CN 201811248136 A CN201811248136 A CN 201811248136A CN 109291051 A CN109291051 A CN 109291051A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The present invention relates to a kind of series-parallel robot terminal angle closed loop control methods angle sensor based.This method is: angular transducer being mounted in the mounting groove of series-parallel robot end flange, and is screwed, measurement obtains robot under earth coordinates around x-axis and around the attitude angle of z-axis.By coordinate transformation, the attitude angle under earth coordinates is converted into the position auto―control under robot basis coordinates system.Then according to the kinematics model of series-parallel robot, the practical joint variable of robot under current pose is obtained by inverse kinematics, to obtain the joint error in each joint.Joint error is compensated, realizes the closed-loop control of series-parallel robot end pose.This method is based on angular transducer and realizes closed-loop control, and it is convenient to integrate, and does not influence the installation of end effector, can be improved the terminal angle precision of robot, is suitable for some pairs of higher occasions of terminal angle required precision.
Description
Technical field
The present invention relates to a kind of series-parallel robot terminal angle closed loop control methods angle sensor based.
Background technique
In modern automated production robot in occupation of and its consequence.Compared to traditional machine tooling,
There are better flexibility and bigger space in robot.But the precision of robot is relatively low, in some precision parts
Manufacture field robot lathe can't be replaced to be applied well.Some required precisions are higher, space require compared with
Big occasion just needs to improve its machining accuracy as far as possible in the case where applied robot.Series-parallel robot combines parallel connection
The advantages of robot and serial manipulator, machining accuracy is higher, and space is larger.Closed-loop control side is used on this basis
Method carries out error compensation to robot pose, can effectively improve robot precision, meet more application demands.
At present there are mainly two types of the control methods of robot: half-closed loop control and closed-loop control.Half-closed loop control method is logical
Cross motor encoder carry out error compensation, can only small electromotor rotation error, cannot effectively improve end pose accuracy.?
On the basis of this, in the end of joint transmission part, addition photoelectric encoder carries out error compensation, can eliminate the driving error of driving member,
Improve end pose accuracy.But the method needs multiple photoelectric encoders, and can only compensate driving error, for some structures
The error of parameter can not be eliminated.The present invention obtains actual end pose in end flange setting angle sensor, by measurement
And error compensation is carried out based on kinematics, processing of robots precision can be effectively improved by carrying out error compensation from the overall situation.
Summary of the invention
It is a kind of angle sensor based series-parallel it is an object of the invention to aiming at the defects existing in the prior art, provide
Robot end's posture closed loop control method, in order to achieve the above objectives, the present invention are effectively mentioned using global progress error compensation
The machining accuracy of high robot.Insight of the invention is that angular transducer is mounted on series-parallel robot end method by the present invention
It in the mounting groove of blue disk, and is screwed, measurement obtains robot under earth coordinates around x-axis and around the attitude angle of z-axis.
By coordinate transformation, the attitude angle under earth coordinates is converted into the position auto―control under robot basis coordinates system.Then basis
The kinematics model of series-parallel robot obtains the practical joint variable of robot under current pose by inverse kinematics,
To obtain the joint error in each joint.Joint error is compensated, realizes the closed loop control of series-parallel robot end pose
System.This method is based on angular transducer and realizes closed-loop control, and it is convenient to integrate, and does not influence the installation of end effector, can be improved
The terminal angle precision of robot is suitable for some pairs of higher occasions of terminal angle required precision.
As shown in Figure 1.Given robot certain point pose, obtains joint variable J by inverse kinematics.Joint variable
J passes to controller, and servo-system and transmission system is then driven to execute motion command.Wherein, it includes servo system that system, which passes letter,
The transmission function of system and transmission system.During robot motion, angular transducer measures current end posture A1, B1.
Then the end pose based on series-parallel robot basis coordinates system is obtained by coordinate transformation, inverse kinematics are currently closed
Variable is saved, to obtain joint error Δ J.Data processing unit includes coordinate transformation, inverse kinematics, and each joint error is asked
Solution.The joint error acquired is compensated into joint variable, can improve the precision of robot.(J=[q1,q2,q3,β1,β2]T,Δ
J=[Δ q1,Δq2,Δq3,Δβ1,Δβ2]T)
Conceived according to foregoing invention, the present invention adopts the following technical solutions:
A kind of series-parallel robot terminal angle closed loop control method angle sensor based, it is characterised in that using such as
Lower closed-loop control system, including inverse kinematics model (4), controller (1), system pass letter (5), angular transducer (2) and data
Processing unit (7)；Given pose XYZAB (3) are solved by inverse kinematics model (4) and obtain the joint variable of series-parallel robot
J is then passed to controller (1), and the system that the control signal of controller (1) is transmitted to transmission mechanism passes letter (3) and obtains going here and there simultaneously
Join robot attained pose X1Y1Z1A1B1 (6)；Angular transducer (2) detects series-parallel robot terminal angle angle A1B1,
And be transmitted to data processing unit (7) and obtain joint variable error delta J, the difference of Δ J and J pass to controller as input value
(1), the closed-loop control of series-parallel robot terminal angle is realized；Specific steps are as follows:
1) angular transducer (2) is mounted in the mounting groove (A) of series-parallel robot end flange, and solid with screw
It is fixed, the angle σ of ending coordinates system and earth coordinates x-axis and the angle theta of y-axis are measured in robot kinematics；
2) two based on the earth coordinates angle parameter that angular transducer (2) measures, description is current in the matrix form
Pose T of the end effector under earth coordinatesw, end effector is converted in series-parallel robot base by coordinate
Position auto―control T under mark systemo；
3) kinematics model is established, obtains the practical joint of series-parallel robot under current pose by inverse kinematics
Variable q '1,q′2,q′3,β′1,β′2, wherein q '1Represent the practical joint length of branch 1 (3 '), q '2Represent the reality of branch 2 (5 ')
Border joint length, q '3Represent the practical joint length of branch 3 (4 '), β '1The practical joint angles of rotary joint 1 (7 ') are represented,
β′2Represent the practical joint angles of rotary joint 2 (8 ')；
4) the joint control variable q of current series-parallel robot known to1,q2,q3,β1,β2, find out the joint under current pose
Variable error Δ q1,Δq2,Δq3,Δβ1,Δβ2, error compensation is carried out to each joint variable, to improve the end of robot
Attitude accuracy, wherein q1Represent the theoretical joint length of branch 1 (3 '), q2Represent the theoretical joint length of branch 2 (5 '), q3Generation
The theoretical joint length of table branch 3 (4 '), β1Represent the theoretical joint angles of rotary joint 1 (7 '), β2Represent rotary joint 2
The theoretical joint angles of (8 '), Δ qi=qi-q′i, i=1,2,3；Δβi=βi-β′i, i=1,2.
According to above step, measurement terminal angle needs to use angular transducer.There are five the series-parallel robots
High-precision dual-axis inclinator can be selected in order to measure the posture of end effector in freedom degree (two turn of three shifting).Pass through the inclinator
Ending coordinates system can be measured relative to earth coordinates x-axis, the angle of y-axis.
The inclinator resolution ratio is 0.0005 °, and 0.002 ° of precision, the direct current of the optional 11-35V of input voltage, output is frequently
The optional 5-100Hz of rate, output of products optional RS232, RS485 and CAN bus.
In order to guarantee that angle that inclinator measures is ending coordinates system relative to earth coordinates x-axis, the angle of y-axis,
Inclinator is mounted on the ring flange that five axis are connect with end effector on the series-parallel robot, and guarantees inclinator zero
It is horizontal with the earth in the case where degree angle.
Inclinator installs bore dia 4mm*3 having a size of 103.8*55.4*26mm.A 110*60* is opened on connecting flange
The slot of 30mm, and be screwed and be mounted in slot.As shown in figure 3, A is the mounting groove of angular transducer, B is angular transducer
Mounting hole, C be angular transducer working principle signal.
According to two based on earth coordinates angle parameter (σ, θ) needs that described in step 2), angular transducer is measured
Position auto―control of the end effector under series-parallel robot basis coordinates system is converted to by coordinate transformation.As shown in figure 4,
A1A2A3 is fixed platform, and B1B2B3 is moving platform, and q1, q2, q3 is three direct acting chain joint variables, and beta1, beta2 are two
Cradle head variable.The basis coordinates system of series-parallel robot is O-x1y1z1, earth coordinates O-x2y2z2, angular transducer sheet
The coordinate system of body is O-x3y3z3, and coordinate system direction is identical as earth coordinates direction.
Position coordinates of the end effector under earth coordinates are (xw,yw,zw), conversion method is as follows:
1. the position auto―control T under earth coordinatesw:
2. transition matrix
The transition matrix has different service conditions in varied situations.When robot basis coordinates system and earth coordinates side
To it is consistent whenFor unit matrix；When robot basis coordinates system and earth coordinates are inconsistent,According to changing for basis coordinates system
Become and change, indicates that earth coordinates are converted into the transformation matrices of basis coordinates system.
3. the position auto―control T under basis coordinates systemo:
According to described in step 3), the current pose under series-parallel robot basis coordinates system needs to obtain by inverse kinematics
Joint variable under current pose.Kinematics solution uses modular method in the present invention, parallel connection part as a module,
Its end pose can be indicated with a transformation matrix T0.It then can be according to serial manipulator Kinematic Model method to series-parallel
Robot carries out Kinematic Model.By establishing DH model, the transformation matrices T1 in 1 joint of series-parallel robot series connection, series connection 2 is closed
Save transformation matrices T2, end position auto―control Th:
Th=T0*T1*T2
Two sections of formula each right inverse matrixs multiplied by T2, can acquire two series connection joints and obtain joint variable β '1, β '2, and be coupled
The terminal Parameters variable b1 (corner of the moving platform around y-axis) of structure, c1 (corner of the moving platform around x-axis), (moving platform is along z-axis by z1
It is mobile).
Then three direct acting joint variable q ' of parallel institution are solved using intermediate parameters method1,q′2,q′3。
The present invention compared with prior art, have following obvious prominent substantive distinguishing features and significant technology into
Step:
1) present invention carries out error compensation using global, realizes the closed-loop control of series-parallel robot terminal angle, effectively
Improve the machining accuracy of robot.
2) the present invention is based on the closed-loop controls that angular transducer realizes series-parallel robot terminal angle, and it is convenient to integrate, no
Influence the installation of end effector.
3) present invention mainly carries out error compensation to series-parallel robot terminal angle, can be improved series-parallel robot
Terminal angle precision has certain advantage for some pairs of higher occasions of terminal angle required precision.
Detailed description of the invention
Fig. 1 is series-parallel robot closed-loop control block diagram
Fig. 2 is closed loop control method flow diagram
Fig. 3 is angular transducer scheme of installation
Fig. 4 is series-parallel robot coordinate transition diagram
Specific embodiment
Details are as follows for the preferred embodiment of the present invention combination attached drawing:
Embodiment one:
Based on the series-parallel robot terminal angle closed loop control method of angular transducer, it is characterised in that using as follows
At closed-loop control system, including inverse kinematics model (4), controller (1), system biography letter (5), angular transducer (2) and data
It manages unit (7)；Given pose XYZAB (3) are solved by inverse kinematics model (4) and obtain the joint variable J of series-parallel robot,
It is then passed to controller (1), the system that the control signal of controller (1) is transmitted to transmission mechanism passes letter (3) and obtains in series and parallel
Robot attained pose X1Y1Z1A1B1 (6)；Angular transducer (2) detects series-parallel robot terminal angle angle A1B1, and
It is transmitted to data processing unit (7) and obtains joint variable error delta J, the difference of Δ J and J pass to controller as input value
(1), the closed-loop control of series-parallel robot terminal angle is realized；Specific steps are as follows:
1) angular transducer (2) is mounted in the mounting groove (A) of series-parallel robot end flange, and solid with screw
It is fixed, the angle σ of ending coordinates system and earth coordinates x-axis and the angle theta of y-axis are measured in robot kinematics；
2) two based on the earth coordinates angle parameter that angular transducer (2) measures, description is current in the matrix form
Pose T of the end effector under earth coordinatesw, end effector is converted in series-parallel robot base by coordinate
Position auto―control T under mark systemo；
3) kinematics model is established, obtains the practical joint of series-parallel robot under current pose by inverse kinematics
Variable q '1,q′2,q′3,β′1,β′2, wherein q '1Represent the practical joint length of branch 1 (3 '), q '2Represent the reality of branch 2 (5 ')
Border joint length, q '3Represent the practical joint length of branch 3 (4 '), β '1The practical joint angles of rotary joint 1 (7 ') are represented,
β′2Represent the practical joint angles of rotary joint 2 (8 ')；
4) the joint control variable q of current series-parallel robot known to1,q2,q3,β1,β2, find out the joint under current pose
Variable error Δ q1,Δq2,Δq3,Δβ1,Δβ2, error compensation is carried out to each joint variable, to improve the end of robot
Attitude accuracy, wherein q1Represent the theoretical joint length of branch 1 (3 '), q2Represent the theoretical joint length of branch 2 (5 '), q3Generation
The theoretical joint length of table branch 3 (4 '), β1Represent the theoretical joint angles of rotary joint 1 (7 '), β2Represent rotary joint 2
The theoretical joint angles of (8 '), Δ qi=qi-q′i, i=1,2,3；Δβi=βi-β′i, i=1,2.
Embodiment two: the present embodiment is basically the same as the first embodiment, and special feature is as follows:
The angular transducer (2) selects high-precision dual-axis inclinator, measures ending coordinates system phase with the dual axis inclinometer
For earth coordinates around x-axis, the corner of y-axis；To guarantee that the angle that inclinator measures is ending coordinates system relative to the earth seat
Mark system is mounted on the inclinator on five axis of series-parallel robot moved there are five two turn three of freedom degree-around x-axis, the corner of y-axis
It in the mounting groove for the ring flange being connect with end effector, is screwed, guarantees its installation accuracy, and guarantee inclinator zero
It is horizontal with the earth in the case where degree angle.
In the step 2), two based on earth coordinates angle parameter σ, θ that angular transducer (2) measures need
Position auto―control of the end effector under series-parallel robot basis coordinates system is converted to by coordinate transformation；End effector is big
Position coordinates under ground coordinate system are (xw,yw,zw), conversion method is as follows:
1. the position auto―control T under earth coordinatesw:
2. transition matrix
When robot basis coordinates system is consistent with earth coordinates directionFor unit matrix；When robot basis coordinates system with
When earth coordinates are inconsistentChanged according to the change of basis coordinates system, indicates that earth coordinates are converted into basis coordinates system
Transformation matrices；
3. the position auto―control T under basis coordinates systemo:
Embodiment three:
The specific embodiment of the present embodiment is as follows: as shown in Figure 1, given robot certain point pose, passes through inverse movement
It learns to solve and obtains joint variable J.Joint variable J passes to controller, then servo-system and transmission system is driven to execute movement
Order.Wherein, system passes the transmission function that letter includes servo-system and transmission system.During robot motion, angle
Sensor measures current end posture A1, B1.Then the end based on series-parallel robot basis coordinates system is obtained by coordinate transformation
Pose is held, inverse kinematics obtain current joint variable, to obtain joint error Δ J.Data processing unit includes coordinate
Conversion, inverse kinematics, joint error solve.The joint error acquired is compensated into joint variable, can improve robot
Precision.(J=[q1,q2,q3,β1,β2]T, Δ J=[Δ q1,Δq2,Δq3,Δβ1,Δβ2]T)
Specific implementation step is as described below:
Step 1: angular transducer is mounted in series-parallel robot end flange, and it is screwed, in machine
Ending coordinates system and earth coordinates x-axis can be measured in people's motion process angle (σ), the angle (θ) with y-axis.
As shown in figure 3, series-parallel robot is by pedestal (1 '), fixed platform (2 '), branch 1 (3 '), branch 2 (5 '), branch 3
(4 '), moving platform (6 '), rotary joint 1 (7 ') and rotary joint 2 (8 ') composition.Wherein A is the mounting groove of angular transducer, B
For 3 mounting holes of angular transducer, C is the signal of angular transducer working principle.
There are five freedom degree (two turn of three shiftings) for the series-parallel robot, in order to which the posture selection for measuring end effector is high-precision
Spend dual axis inclinometer.Robot end's coordinate system is measured relative to earth coordinates x-axis, the angle of y-axis by the inclinator.
The inclinator resolution ratio is 0.0005 °, and 0.002 ° of precision, the direct current of the optional 11-35V of input voltage, output is frequently
The optional 5-100Hz of rate, output of products optional RS232, RS485 and CAN bus.
In order to guarantee that the angle that inclinator measures is actuator relative to earth coordinates x-axis, the angle of y-axis, in the string
Inclinator is mounted in the mounting groove for the ring flange that five axis are connect with end effector on parallel robot, and guarantees inclinator
It is horizontal with the earth in the case where zero angle.
Inclinator installs bore dia 4mm*3 having a size of 103.8*55.4*26mm.A 110*60* is opened on connecting flange
The slot A of 30mm, and be screwed and be mounted in slot.
Step 2: two based on the earth coordinates angle parameter that angular transducer measures, can describe in the matrix form
Pose (T of the current end actuator under earth coordinatesw).End effector can be obtained in series-parallel machine by coordinate conversion
Position auto―control (T under device people's basis coordinates systemo)。
As shown in figure 4, A1A2A3 is fixed platform, B1B2B3 is moving platform, and q1, q2, q3 is three direct acting chain joint variables,
Beta1, beta2 are two cradle head variables.The basis coordinates system of series-parallel robot is O-x1y1z1, earth coordinates O-
The coordinate system of x2y2z2, angular transducer itself are O-x3y3z3, and coordinate system direction is identical as earth coordinates direction.
Position coordinates of the end effector under earth coordinates are (xw,yw,zw), conversion method is as follows:
4. the position auto―control T under earth coordinatesw:
1. transition matrix
The transition matrix has different service conditions in varied situations.When series-parallel robot basis coordinates system and the earth are sat
When mark system direction is consistentFor unit matrix；When robot basis coordinates system and earth coordinates are inconsistentAccording to basis coordinates
The change of system and change, indicate that earth coordinates are converted into the transformation matrices of basis coordinates system.
2. the position auto―control T under basis coordinates systemo:
Step 3: establishing kinematics model, the reality of series-parallel robot under current pose can be obtained by inverse kinematics
Border joint variable q '1,q′2,q′3,β′1,β′2。
Kinematics solution uses modular method in the present invention, and parallel connection part can use a transformation square as a module
Battle array T0 indicates its end pose.Then series-parallel robot can be moved according to serial manipulator Kinematic Model method
Learn modeling.By establishing DH model, the transformation matrices T1 in 1 joint of series-parallel robot series connection, connect 2 joint transformation matrices T2,
End position auto―control Th:
Th=T0*T1*T2
Two sections of formula each right inverse matrixs multiplied by T2, can acquire two series connection joints and obtain joint variable β '1, β '2, and be coupled
The terminal Parameters variable b1 (corner of the moving platform around y-axis) of structure, c1 (corner of the moving platform around x-axis), (moving platform is along z-axis by z1
It is mobile).
Then three direct acting joint variable q ' of parallel institution are solved using intermediate parameters method1,q′2,q′3。
Step 4: the joint control variable q of known current series-parallel robot1,q2,q3,β1,β2, current pose can be found out
Under joint variable error delta q1,Δq2,Δq3,Δβ1,Δβ2, error compensation is carried out to joint variable, to improve robot
Terminal angle precision.
Claims (3)
1. a kind of series-parallel robot terminal angle closed loop control method angle sensor based, it is characterised in that using as follows
At closed-loop control system, including inverse kinematics model (4), controller (1), system biography letter (5), angular transducer (2) and data
It manages unit (7)；Given pose XYZAB (3) are solved by inverse kinematics model (4) and obtain the joint variable J of series-parallel robot,
It is then passed to controller (1), the system that the control signal of controller (1) is transmitted to transmission mechanism passes letter (3) and obtains in series and parallel
Robot attained pose X1Y1Z1A1B1 (6)；Angular transducer (2) detects series-parallel robot terminal angle angle A1B1, and
It is transmitted to data processing unit (7) and obtains joint variable error delta J, the difference of Δ J and J pass to controller as input value
(1), the closed-loop control of series-parallel robot terminal angle is realized；Specific steps are as follows:
1) angular transducer (2) is mounted in the mounting groove (A) of series-parallel robot end flange, and is screwed,
The angle σ of ending coordinates system and earth coordinates x-axis and the angle theta of y-axis are measured in robot kinematics；
2) two based on the earth coordinates angle parameter that angular transducer (2) measures, describes current end in the matrix form
Pose T of the actuator under earth coordinatesw, end effector is converted in series-parallel robot basis coordinates system by coordinate
Under position auto―control To；
3) kinematics model is established, obtains the practical joint variable of series-parallel robot under current pose by inverse kinematics
q′1,q′2,q′3,β′1,β′2, wherein q '1Represent the practical joint length of branch 1 (3 '), q '2Represent the practical pass of branch 2 (5 ')
Save length, q '3Represent the practical joint length of branch 3 (4 '), β '1Represent the practical joint angles of rotary joint 1 (7 '), β '2Generation
The practical joint angles of table rotary joint 2 (8 ')；
4) the joint control variable q of current series-parallel robot known to1,q2,q3,β1,β2, find out the joint variable under current pose
Error delta q1,Δq2,Δq3,Δβ1,Δβ2, error compensation is carried out to each joint variable, to improve the terminal angle of robot
Precision, wherein q1Represent the theoretical joint length of branch 1 (3 '), q2Represent the theoretical joint length of branch 2 (5 '), q3Represent branch
The theoretical joint length of chain 3 (4 '), β1Represent the theoretical joint angles of rotary joint 1 (7 '), β2Represent rotary joint 2 (8 ')
Theoretical joint angles, Δ qi=qi-q′i, i=1,2,3；Δβi=βi-β′i, i=1,2.
2. series-parallel robot terminal angle closed loop control method angle sensor based according to claim 1,
Be characterized in that: the angular transducer (2) selects high-precision dual-axis inclinator, measures ending coordinates system phase with the dual axis inclinometer
For earth coordinates around x-axis, the corner of y-axis；To guarantee that the angle that inclinator measures is ending coordinates system relative to the earth seat
Mark system is mounted on the inclinator on five axis of series-parallel robot moved there are five two turn three of freedom degree-around x-axis, the corner of y-axis
It in the mounting groove for the ring flange being connect with end effector, is screwed, guarantees its installation accuracy, and guarantee inclinator zero
It is horizontal with the earth in the case where degree angle.
3. series-parallel robot terminal angle closed loop control method angle sensor based according to claim 1,
Be characterized in that: in the step 2), two based on earth coordinates angle parameter σ, θ that angular transducer (2) measures need
Position auto―control of the end effector under series-parallel robot basis coordinates system is converted to by coordinate transformation；End effector is big
Position coordinates under ground coordinate system are (xw,yw,zw), conversion method is as follows:
1. the position auto―control T under earth coordinatesw:
2. transition matrix
When robot basis coordinates system is consistent with earth coordinates directionFor unit matrix；When robot basis coordinates system and the earth
When coordinate system is inconsistentChanged according to the change of basis coordinates system, indicates that earth coordinates are converted into the variation square of basis coordinates system
Battle array；
3. the position auto―control T under basis coordinates systemo:
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| CN110977940A (en) * | 2019-11-28 | 2020-04-10 | 清华大学 | Geometric error modeling method and device for parallel-series robot |
| CN111113425A (en) * | 2019-12-31 | 2020-05-08 | 上海大学 | Inverse solution method for kinematics of five-degree-of-freedom series-parallel robot with parasitic motion |
| CN114378813A (en) * | 2021-12-20 | 2022-04-22 | 西门子（中国）有限公司 | Control method and device for mechanical arm and computer readable medium |
| CN114589690A (en) * | 2020-12-07 | 2022-06-07 | 山东新松工业软件研究院股份有限公司 | Robot joint pose monitoring method and device |
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