CN110347162A - A kind of industrial robot path modified method and system automatically - Google Patents
A kind of industrial robot path modified method and system automatically Download PDFInfo
- Publication number
- CN110347162A CN110347162A CN201910691522.3A CN201910691522A CN110347162A CN 110347162 A CN110347162 A CN 110347162A CN 201910691522 A CN201910691522 A CN 201910691522A CN 110347162 A CN110347162 A CN 110347162A
- Authority
- CN
- China
- Prior art keywords
- industrial robot
- control
- parameter
- path
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a kind of industrial robot path modified systems automatically, including industrial robot, wherein, industrial robot includes operation module, drive module and control module, and, one end of industrial robot respectively with operation module, the connection of one end of drive module and control module, drive module includes driver, retarder and detecting element, and, one end of drive module respectively with driver, the connection of one end of retarder and detecting element, control module includes control system and artificial intelligence system, one end of control module is connect with one end of control system and artificial intelligence system respectively, the other end of control system is connect with control device and detection device respectively, artificial intelligence system includes sensing system and route correcting system, and, one end of artificial intelligence system respectively with sensing system and route correcting system One end connection, sensing system includes auditory system, haptic system, vision system and force sense equipment.
Description
Technical field
The present invention relates to industrial robot field, it particularly relates to a kind of industrial robot path modified side automatically
Method and system.
Background technique
Currently, industrial robot is widely used in industrial production and manufacturing field.Robot is according to preset robot
Path is moved, and the path point that wherein robot path is included is usually to refer to the geometric jacquard patterning unit surface generation of parts to be processed
, usually it is stored in the object listing of robot controller with coordinate form.When operator wants to change on robot path
One or more path points position when, be artificial corresponding absolute coordinate to be inputted to each path point one by one in the prior art
Each path point is dragged to preset position one by one by visual interface by value, and such makeover process is not only time-consuming, and
And precision is not high.
Summary of the invention
Technical assignment of the invention be against the above deficiency, provide a kind of industrial robot path automatically modified method and
System, it is not only time-consuming in makeover process to solve industrial robot, but also the problem that precision is not high.
The technical scheme of the present invention is realized as follows:
A kind of industrial robot path modified method automatically, comprising the following steps:
S1: robot path parameter to be modified is input in control module, the parameter of predefined paths is obtained；
S2: if by the way that predefined paths are divided into trunk section, wherein each section includes multiple path points；
S3: parameter is input in industrial machinery people by control module, so that industrial robot completes one group of path movement, obtains reality
The parameter in border path；
S4: passage path correction module compares the parameter of Actual path and the parameter of the predefined paths in step S1, obtains
To error amount；
S5: the error amount in S4 is modified by control system；
S6: recirculation step S3, until error amount be 0, stop.
Wherein, the step that the parameter of the Actual path in the S4 and the parameter of the predefined paths in step S1 compare
Suddenly, specifically includes the following steps:
S401: each joint kinematic parameter of industrial robot is input in servo-control system, is obtained by servo-control system
The location error and velocity error of industrial robot；
S402: the velocity feedback in each joint and the parameter of position feedback can be obtained by servomotor, sensor and brake；
S403: the parameter of velocity feedback and position feedback in step S402 is transmitted in servo-control system, position is passed through
Error amplifier and velocity error amplifier compare given value and value of feedback, obtain controlling signal accordingly；
S405: the control signal in servo-control system is amplified by power amplifier, so that driver moves；
S406: pass through the joint motions control of driver completion industrial robot and the adjustment of the position in joint and speed；
S407: the amendment to the Actual path of industrial robot is completed.
Preferably, the servo-control system in step S401 includes location error amplifier and velocity error amplifier.
Preferably, the driver in step S405 includes servomotor, sensor and brake.
According to another aspect of the present invention, a kind of industrial robot path modified system, including industry automatically is provided
Robot, wherein the industrial robot includes operation module, drive module and control module, also, the industrial robot
One end connect respectively with one end of the operation module, the drive module and the control module.
Preferably, the drive module includes driver, retarder and detecting element, also, the one of the drive module
End is connect with one end of the driver, the retarder and the detecting element respectively.
Preferably, the control module includes control system and artificial intelligence system, one end difference of the control module
Connect with one end of the control system and the artificial intelligence system, the other end of the control system respectively with control device
And detection device connection.
Preferably, the artificial intelligence system includes sensing system and route correcting system, also, the artificial intelligence
One end of system is connect with one end of the sensing system and the route correcting system respectively, and the sensing system includes
Auditory system, haptic system, vision system and force sense equipment, also, one end of the sensing system respectively with the sense of hearing
One end connection of system, the haptic system, the vision system and the force sense equipment.
Beneficial effects of the present invention:
1, the present invention can effectively improve operator and correct the efficiency of robot path, also, operator is avoided to modify one by one
The human error that path point generates in robot path meets the needs that industrial robot path is corrected in actual production；
2, in order to enable industrial robot can smoothly be run along path, in addition to controlling its walking path, the control of speed
System be also it is highly important, guarantee industrial robot high-ball on straight way, zig zag when speed should not be too fast and go out
Runway etc., the detection of speed is particularly important at this time, and having several factors influences motor speed, these factors not only result in
Robot fluctuation of service also results in bulk velocity slowly etc., so, it needs through velocity measuring, closed loop is carried out to speed
Feedback control can then eliminate the influence of various factors above to a certain extent, so that industrial robot runs more smart
Really.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart of industrial robot path according to an embodiment of the present invention modified method automatically；
Fig. 2 is the flow chart of step S4 according to an embodiment of the present invention；
Fig. 3 is a kind of module map of industrial robot path according to an embodiment of the present invention modified system automatically；
Fig. 4 is the module map of artificial intelligence system according to an embodiment of the present invention.
In figure:
1, industrial robot；2, operation module；3, drive module；4, control module；5, driver；6, retarder；7, detection member
Part；8, control system；9, artificial intelligence system；10, control device；11, detection device；12, sensing system；13, path is repaired
Positive system；14, auditory system；15, haptic system；16, vision system；17, force sense equipment.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Embodiment, as shown in Figs. 1-2, a kind of industrial robot path according to an embodiment of the present invention modified method automatically, packet
Include following steps:
S1: robot path parameter to be modified is input in control module, the parameter of predefined paths is obtained；
S2: if by the way that predefined paths are divided into trunk section, wherein each section includes multiple path points；
S3: parameter is input in industrial machinery people by control module, so that industrial robot completes one group of path movement, obtains reality
The parameter in border path；
S4: passage path correction module compares the parameter of Actual path and the parameter of the predefined paths in step S1, obtains
To error amount；
S5: the error amount in S4 is modified by control system；
S6: recirculation step S3, until error amount be 0, stop.
Wherein, the step of parameter of the Actual path in S4 and the parameter of the predefined paths in step S1 compare, tool
Body the following steps are included:
S401: each joint kinematic parameter of industrial robot is input in servo-control system, is obtained by servo-control system
The location error and velocity error of industrial robot, wherein servo-control system includes location error amplifier and velocity error
Amplifier；
S402: the velocity feedback in each joint and the parameter of position feedback can be obtained by servomotor, sensor and brake；
S403: the parameter of velocity feedback and position feedback in step S402 is transmitted in servo-control system, position is passed through
Error amplifier and velocity error amplifier compare given value and value of feedback, obtain controlling signal accordingly；
S405: the control signal in servo-control system is amplified by power amplifier, so that driver moves, wherein drive
Dynamic device includes servomotor, sensor and brake；
S406: pass through the joint motions control of driver completion industrial robot and the adjustment of the position in joint and speed；
S407: the amendment to the Actual path of industrial robot is completed.
As shown in figure 3, according to embodiments of the present invention, a kind of industrial robot path modified system automatically is additionally provided,
Including industrial robot 1, wherein industrial robot 1 includes operation module 2, drive module 3 and control module 4, also, industrial
One end of robot 1 is connect with one end of operation module 2, drive module 3 and control module 4 respectively, and drive module 3 includes driving
Device 5, retarder 6 and detecting element 7, also, one end of drive module 3 respectively with driver 5, retarder 6 and detecting element 7
One end connection, control module 4 include control system 8 and artificial intelligence system 9, one end of control module 4 respectively with control system 8
And one end connection of artificial intelligence system 9, the other end of control system 8 are connect with control device 10 and detection device 11 respectively.
As shown in figure 4, artificial intelligence system 9 includes sensing system 12 and route correcting system 13, also, artificial intelligence
One end of system 9 is connect with one end of sensing system 12 and route correcting system 13 respectively, and sensing system 12 includes the sense of hearing
System 14, haptic system 15, vision system 16 and force sense equipment 17, also, one end of sensing system 12 respectively with sense of hearing system
One end connection of system 14, haptic system 15, vision system 16 and force sense equipment 17.
In order to facilitate above-mentioned technical proposal of the invention is understood, below just present invention working principle in the actual process or
Person's mode of operation is described in detail.
In practical application: firstly, 1 path parameter of industrial robot to be modified is input in control module 4, obtaining
The parameter of predefined paths, if by the way that predefined paths are divided into trunk section, wherein each section includes multiple path points；Control
Parameter is input in industrial robot 1 by module 4, so that industrial robot 1 completes one group of path movement, obtains Actual path
Parameter, passage path update the system 13 compare the parameter of the parameter of Actual path and predefined paths, obtain error amount；It will
Each joint kinematic parameter of industrial robot 1 is input in servo-control system, obtains industrial robot 1 by servo-control system
Location error and velocity error, wherein servo-control system includes location error amplifier and velocity error amplifier, is passed through
The velocity feedback in each joint and the parameter of position feedback can be obtained in servomotor, sensor and brake, by velocity feedback and
The parameter of position feedback is transmitted in servo-control system, by location error amplifier and velocity error amplifier by given value
It is compared with value of feedback, obtains controlling signal accordingly, by power amplifier by the control signal in servo-control system
Amplification, so that driver 5 moves, wherein driver 5 includes servomotor, sensor and brake, complete by driver 5
At the joint motions control of industrial robot 1 and the adjustment of the position in joint and speed, error amount is carried out by control system 8
Amendment；Complete the amendment to the Actual path of industrial robot 1.
In conclusion can effectively improve operator by means of above-mentioned technical proposal of the invention through the invention and repair
The efficiency of positive robot path, also, operator is avoided to modify the human error that path point generates in robot path one by one, it is full
The needs of robot path are corrected in sufficient actual production；In order to enable industrial robot 1 can smoothly be run along path, remove
Control its walking path, the control of speed be also it is highly important, guarantee industrial robot 1 high-ball on straight way,
Zig zag when speed should not be too fast and gun off the runway, the detection of speed at this time is particularly important, and has several factors shadow
Motor speed is rung, these factors not only result in 1 fluctuation of service of industrial robot, also result in bulk velocity slowly etc., therefore
And need through velocity measuring, closed loop feedback control is carried out to speed, then can eliminate various factors above to a certain extent
Influence so that industrial robot 1 runs more accurate.
The technical personnel in the technical field can readily realize the present invention with the above specific embodiments,.But it answers
Work as understanding, the present invention is not limited to above-mentioned specific embodiments.On the basis of the disclosed embodiments, the technical field
Technical staff can arbitrarily combine different technical features, to realize different technical solutions.
Claims (8)
1. a kind of industrial robot path modified method automatically, which comprises the following steps:
S1: robot path parameter to be modified is input in control module, the parameter of predefined paths is obtained；
S2: if by the way that predefined paths are divided into trunk section, wherein each section includes multiple path points；
S3: parameter is input in industrial machinery people by control module, so that industrial robot completes one group of path movement, obtains reality
The parameter in border path；
S4: passage path correction module compares the parameter of Actual path and the parameter of the predefined paths in step S1, obtains
To error amount；
S5: the error amount in S4 is modified by control system；
S6: recirculation step S3, until error amount be 0, stop.
2. a kind of industrial robot path according to claim 1 modified method automatically, which is characterized in that in the S4
Actual path parameter and the parameter of predefined paths in step S1 the step of comparing, specifically includes the following steps:
S401: each joint kinematic parameter of industrial robot is input in servo-control system, is obtained by servo-control system
The location error and velocity error of industrial robot；
S402: the velocity feedback in each joint and the parameter of position feedback can be obtained by servomotor, sensor and brake；
S403: the parameter of velocity feedback and position feedback in step S402 is transmitted in servo-control system, position is passed through
Error amplifier and velocity error amplifier compare given value and value of feedback, obtain controlling signal accordingly；
S405: the control signal in servo-control system is amplified by power amplifier, so that driver moves；
S406: pass through the joint motions control of driver completion industrial robot and the adjustment of the position in joint and speed；
S407: the amendment to the Actual path of industrial robot is completed.
3. a kind of industrial robot path according to claim 2 modified method automatically, which is characterized in that step S401
In servo-control system include location error amplifier and velocity error amplifier.
4. a kind of industrial robot path according to claim 2 modified method automatically, which is characterized in that step S405
In driver include servomotor, sensor and brake.
5. a kind of industrial robot path according to claim 1 modified system automatically, which is characterized in that including industry
Robot (1), wherein the industrial robot (1) includes operation module (2), drive module (3) and control module (4), and
And one end of the industrial robot (1) respectively with the operation module (2), the drive module (3) and the control module
(4) one end connection.
6. a kind of industrial robot path according to claim 5 modified system automatically, which is characterized in that the driving
Module (3) includes driver (5), retarder (6) and detecting element (7), also, one end of the drive module (3) respectively with
One end of the driver (5), the retarder (6) and the detecting element (7) connects.
7. a kind of industrial robot path according to claim 6 modified system automatically, which is characterized in that the control
Module (4) includes control system (8) and artificial intelligence system (9), and one end of the control module (4) is with the control respectively
It unites (8) and the connection of one end of the artificial intelligence system (9), the other end of the control system (8) is filled with the control respectively
Set (10) and the detection device (11) connection.
8. a kind of industrial robot path according to claim 7 modified method and system automatically, which is characterized in that institute
Stating artificial intelligence system (9) includes sensing system (12) and route correcting system (13), also, the artificial intelligence system
(9) one end is connect with one end of the sensing system (12) and the route correcting system (13) respectively, the sensor
System (12) includes auditory system (14), haptic system (15), vision system (16) and force sense equipment (17), also, the biography
One end of sensor system (12) respectively with the auditory system (14), the haptic system (15), the vision system (16) and
One end of the force sense equipment (17) connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691522.3A CN110347162A (en) | 2019-07-29 | 2019-07-29 | A kind of industrial robot path modified method and system automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691522.3A CN110347162A (en) | 2019-07-29 | 2019-07-29 | A kind of industrial robot path modified method and system automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110347162A true CN110347162A (en) | 2019-10-18 |
Family
ID=68180398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910691522.3A Pending CN110347162A (en) | 2019-07-29 | 2019-07-29 | A kind of industrial robot path modified method and system automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110347162A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267080A (en) * | 2020-02-18 | 2020-06-12 | 上海柴孚机器人有限公司 | Method for automatically correcting path of industrial robot |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008012642A (en) * | 2006-07-07 | 2008-01-24 | Fujitsu Ltd | Mobile robot |
| CN101661569A (en) * | 2009-09-18 | 2010-03-03 | 北京科技大学 | Intelligent emotional robot multi-modal behavioral associative expression system |
| CN104440864A (en) * | 2014-12-04 | 2015-03-25 | 深圳先进技术研究院 | Master-slaver teleoperation industrial robot system and control method thereof |
| CN106774314A (en) * | 2016-12-11 | 2017-05-31 | 北京联合大学 | A kind of home-services robot paths planning method based on run trace |
| CN106997201A (en) * | 2016-01-25 | 2017-08-01 | 上海电气集团股份有限公司 | The paths planning method of multi-robot Cooperation |
| US20170320212A1 (en) * | 2016-05-09 | 2017-11-09 | Opiflex Automation AB | Fenceless industrial robot system |
| CN107942670A (en) * | 2017-11-30 | 2018-04-20 | 福州大学 | A kind of double-flexibility space manipulator Fuzzy Robust Controller sliding formwork, which is cut, trembles motion control method |
| CN108000517A (en) * | 2016-11-01 | 2018-05-08 | 发那科株式会社 | Possesses the robot controller of learning control function |
| CN108241339A (en) * | 2017-12-27 | 2018-07-03 | 北京航空航天大学 | The movement solution of apery mechanical arm and configuration control method |
| CN108319144A (en) * | 2018-02-21 | 2018-07-24 | 湘潭大学 | A kind of robotic tracking control method and system |
| CN108705530A (en) * | 2018-04-10 | 2018-10-26 | 广州启帆工业机器人有限公司 | Method and system for automatically correcting path of industrial robot |
| CN108803348A (en) * | 2018-08-03 | 2018-11-13 | 北京深度奇点科技有限公司 | A kind of optimization method of pid parameter and the optimization device of pid parameter |
| CN109313417A (en) * | 2015-11-16 | 2019-02-05 | Abb瑞士股份有限公司 | Help robot localization |
| CN109352661A (en) * | 2018-12-11 | 2019-02-19 | 上海辛格林纳新时达电机有限公司 | A kind of control method of joint of robot, servo drive and can storage medium |
| CN109676634A (en) * | 2018-08-28 | 2019-04-26 | 杭州电子科技大学 | Automatic disturbance rejection controller and industrial robot |
| CN109857110A (en) * | 2019-02-13 | 2019-06-07 | 广州视源电子科技股份有限公司 | Motion planning method, device, equipment and computer readable storage medium |
| CN109922949A (en) * | 2016-09-26 | 2019-06-21 | 发纳科美国公司 | The automatic synchronization of press machine and robot |
| CN109976148A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | Robot motion's paths planning method, device, storage medium and terminal device |
-
2019
- 2019-07-29 CN CN201910691522.3A patent/CN110347162A/en active Pending
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008012642A (en) * | 2006-07-07 | 2008-01-24 | Fujitsu Ltd | Mobile robot |
| CN101661569A (en) * | 2009-09-18 | 2010-03-03 | 北京科技大学 | Intelligent emotional robot multi-modal behavioral associative expression system |
| CN104440864A (en) * | 2014-12-04 | 2015-03-25 | 深圳先进技术研究院 | Master-slaver teleoperation industrial robot system and control method thereof |
| CN109313417A (en) * | 2015-11-16 | 2019-02-05 | Abb瑞士股份有限公司 | Help robot localization |
| CN106997201A (en) * | 2016-01-25 | 2017-08-01 | 上海电气集团股份有限公司 | The paths planning method of multi-robot Cooperation |
| US20170320212A1 (en) * | 2016-05-09 | 2017-11-09 | Opiflex Automation AB | Fenceless industrial robot system |
| CN109922949A (en) * | 2016-09-26 | 2019-06-21 | 发纳科美国公司 | The automatic synchronization of press machine and robot |
| CN108000517A (en) * | 2016-11-01 | 2018-05-08 | 发那科株式会社 | Possesses the robot controller of learning control function |
| CN106774314A (en) * | 2016-12-11 | 2017-05-31 | 北京联合大学 | A kind of home-services robot paths planning method based on run trace |
| CN107942670A (en) * | 2017-11-30 | 2018-04-20 | 福州大学 | A kind of double-flexibility space manipulator Fuzzy Robust Controller sliding formwork, which is cut, trembles motion control method |
| CN108241339A (en) * | 2017-12-27 | 2018-07-03 | 北京航空航天大学 | The movement solution of apery mechanical arm and configuration control method |
| CN109976148A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | Robot motion's paths planning method, device, storage medium and terminal device |
| CN108319144A (en) * | 2018-02-21 | 2018-07-24 | 湘潭大学 | A kind of robotic tracking control method and system |
| CN108705530A (en) * | 2018-04-10 | 2018-10-26 | 广州启帆工业机器人有限公司 | Method and system for automatically correcting path of industrial robot |
| CN108803348A (en) * | 2018-08-03 | 2018-11-13 | 北京深度奇点科技有限公司 | A kind of optimization method of pid parameter and the optimization device of pid parameter |
| CN109676634A (en) * | 2018-08-28 | 2019-04-26 | 杭州电子科技大学 | Automatic disturbance rejection controller and industrial robot |
| CN109352661A (en) * | 2018-12-11 | 2019-02-19 | 上海辛格林纳新时达电机有限公司 | A kind of control method of joint of robot, servo drive and can storage medium |
| CN109857110A (en) * | 2019-02-13 | 2019-06-07 | 广州视源电子科技股份有限公司 | Motion planning method, device, equipment and computer readable storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267080A (en) * | 2020-02-18 | 2020-06-12 | 上海柴孚机器人有限公司 | Method for automatically correcting path of industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11027431B2 (en) | Automatic calibration method for robot system | |
| US8843237B2 (en) | Method and device for controlling a manipulator | |
| US7912584B2 (en) | Power consumption estimation apparatus | |
| CN106994684B (en) | Method for controlling a robot tool | |
| US10618164B2 (en) | Robot system having learning control function and learning control method | |
| JP7414810B2 (en) | Zero teaching of robot continuous path | |
| US8600554B2 (en) | System and method for robot trajectory generation with continuous accelerations | |
| US10864632B2 (en) | Direct teaching method of robot | |
| EP1676679A2 (en) | Robot controller for correcting a target position of a robot hand by means of a visual sensor | |
| CN107838920A (en) | A kind of robot polishing Force control system and method | |
| CN109849025B (en) | Vibration suppressing device | |
| EP1525953A2 (en) | Correction data checking system for robots | |
| CN108115690A (en) | A kind of robot adaptive control system and method | |
| CN103713579B (en) | A kind of industrial robot operation method | |
| US20190076949A1 (en) | Automated edge welding based on edge recognition | |
| US11230005B2 (en) | Following robot and work robot system | |
| US10507585B2 (en) | Robot system that displays speed | |
| CN105717869A (en) | Solving method for composite limitations of operating space paths of industrial robot | |
| CN207724306U (en) | A kind of robot polishing Force control system | |
| CN110347162A (en) | A kind of industrial robot path modified method and system automatically | |
| CN104061888A (en) | Robot three-dimensional laser machining head TCP coordinate correcting method and device | |
| Tongloy et al. | An image-based visual servo control system based on an eye-in-hand monocular camera for autonomous robotic grasping | |
| CN109773781A (en) | A kind of soft floating control method of the industrial robot straight line of no sensor | |
| CN107234341A (en) | A kind of heavy compartment matts laser vision Intelligent welding system | |
| CN108748150A (en) | The inexpensive real-time compensation apparatus and method of object manipulator processing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191018 |