CN110531695A - One kind being based on PMAC high-precision control system - Google Patents
One kind being based on PMAC high-precision control system Download PDFInfo
- Publication number
- CN110531695A CN110531695A CN201910846989.0A CN201910846989A CN110531695A CN 110531695 A CN110531695 A CN 110531695A CN 201910846989 A CN201910846989 A CN 201910846989A CN 110531695 A CN110531695 A CN 110531695A
- Authority
- CN
- China
- Prior art keywords
- pmac
- guide rail
- axis guide
- control system
- workbench
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Optics & Photonics (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention belongs to technical field of electric control, are based on PMAC high-precision control system more particularly, to one kind.Including successively host computer interconnected, PMAC controller, driver, workbench, grating scale, laser interferometer, wherein grating scale, laser interferometer are also connected with PMAC controller.Workbench is mounted on the guide rail driving motor of its movement of driving, and driver directly drives guide rail motor.The application uses the movement of air-flotation type guide supporting workbench, has the characteristics that simple structure, light quality and flexible design.By the speed and displacement of pid algorithm feedback operation platform, particularly by grating scale and the double feedbacks of laser interferometer, so that worktable displacement and speed responsive are more accurate, guarantee that movable workbench is more accurate.
Description
Technical field
The invention belongs to technical field of electric control, are based on PMAC high-precision control system more particularly, to one kind.
Background technique
Precision positioning is one of the critical component in precision machinery, and for Ultra-precision positioning platform, always expectation is fixed
It is moved when bit platform moves by given track, and obtains accurate position location.Support system is that Ultra-precision positioning platform is real
The basis of the positioning movement of existing ultraprecise.Locating platform can be divided into mechanical and air-flotation type by guide rail form, mechanical guide rail by
It is difficult to reach the positioning requirements of ultraprecise in characteristics such as friction, dead zones, and air-float guide rail is because rub, therefore it is able to achieve superfinishing
Close positioning.General precision machinery positioning uses single-lens reflex camera infeed mechanism, and used system algorithm is also very simple, so that movement is held
The control of row component locations is inaccurate.
Summary of the invention
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals:
One kind being based on PMAC high-precision control system, its main feature is that, including,
Host computer for being monitored to working table movement state, and is configured the kinematic parameter of workbench, also with
The next PMAC controller is communicated；PMAC controller, is connected with host computer, divides for the exercise data to workbench
Analysis, operation, are uploaded to host computer for the motion state data of workbench；Driver drives with PMAC controller, X-axis guide rail respectively
Dynamic motor, Y-axis guide rail driving motor are connected, and respectively drive X-axis guide rail driving motor according to the instruction of PMAC controller, Y-axis is led
Rail driving motor；X-axis guide rail and Y-axis guide rail, X-axis guide rail are movably arranged in Y-axis guide rail, and by being fixed in Y-axis guide rail
Y-axis guide rail driving motor driving；Workbench, workbench are mounted in X-axis guide rail, are driven by the X-axis guide rail being fixed in X-axis
Dynamic motor driven；Grating scale for detecting the movement position and angular movement speed data of workbench, and corresponding data is uploaded to
PMAC controller；Laser interferometer for detecting the movement position and angular movement speed data of workbench, and corresponding data is uploaded
Give PMAC controller.It is communicated by network interface card and PMAC controller, realizes the transmission to data on PMAC controller.By hard
Disk stores the data of day part obtained.It is shown by display and is present customers data.Central control is carried out by CPU
System.Operation selection display items can be carried out by keyboard.The PMAC controller uses the controller of model IMAC400.
IMAC400 controller function is powerful, calculating speed is fast, reliable in quality, is the open architecture controller based on PC.Driver uses
IMAC Drive servo-driver, the type driver are applicable to any servo motor, and parameter, all parameters are arranged without computer
It is easy to use all in controller.X-axis guide rail and Y-axis guide rail use the guide rail of air floatation form, can be effectively compared with mini system friction
Power, so that system has faster motor imagination feature.Using high-resolution gration ruler and laser interferometer as position
Feedback device can effectively improve the positioning accuracy of system.Host computer is connected with PMAC controller, for showing kinematic parameter.
PMAC controller direct instruction driver, so that working table movement, grating scale and laser interferometer are used to detect the reality of workbench
When position and real-time speed, the real time acceleration of workbench can also be calculated by PMAC controller.
As preference, affiliated driver includes driver 1 and driver 2, driver 1 respectively with PMAC controller, X
Axis rail driving motor is connected；Driver 2 is connected with PMAC controller, Y-axis guide rail driving motor respectively.PMAC controller passes through
Driver 1 drives X-axis guide rail driving motor, drives Y-axis guide rail driving motor by driver 2, PMAC controller is calculated using PID
Method is precisely controlled, and proportion of utilization Ki/S, integral Kp, calculus Kds calculate control amount E (s).To realize the high-precision of workbench
Degree control.
Preferably, the control system further includes A/D signal transducer, and A/D signal transducer is controlled with PMAC respectively
Device, grating scale are connected.A set of grating scale is installed in Y-axis guide rail, for measuring the moving distance and speed of X-axis guide rail, in turn
Directly read the Y-axis moving distance and speed of workbench.A set of grating scale is installed in X-axis guide rail, for directly measuring work
The X-axis of platform mobile distance and speed.By respectively installing a set of grating scale in X, Y-axis guide rail, realize respectively to Y, X-direction work
Make the accurate calculation of platform velocity and acceleration, displacement.
Preferably, the laser interferometer is connected with A/D signal transducer.It is dry that a set of laser is installed in Y-axis guide rail
Interferometer for measuring the moving distance and speed of X-axis guide rail, and then directly reads the Y-axis moving distance and speed of workbench.In
A set of laser interferometer is installed, the X-axis for directly measuring workbench mobile distance and speed in X-axis guide rail.
Preferably, the port I/O is also set up in the control system, PMAC controller connects power supply by the port I/O and opens
Pass and operation panel.It, can be in order to connecting each power switch and operation panel by the way that the port I/O is arranged.Power switch is for being
The startup and shutdown for equipment of uniting.Control of the operation panel for system equipment operates.
Preferably, limit switch is set in the control system, and limit switch connects the port I/O.It is limited by setting
Switch, avoids movable workbench from going beyond the scope and damage, plays the role of protection system.
Preferably, the control system further includes system software, and the system software includes for movement ginseng to be arranged
Several non real-time control modules and the real-time control module for monitoring, executing.
Preferably, the non real-time control module includes system initialization module, kinematic parameter setup module, refers to online
Enable module.System initialization module saves data when system factory, can be by system parameter also by system initialization module
The former setting to when factory.Kinematic parameter setup module includes the X-axis parameter module and use for controlling X-axis guide rail driving motor
In the Y-axis parameter module of control Y-axis guide rail driving motor.X-axis parameter module and Y-axis parameter module include acceleration, speed, position
It moves, time parameter.Online instruction module is for the setting and adjusting during system motion.
Preferably, the real-time control module include real-time communication module, program downloading with execution module, manually control
Module, real-time monitoring module.Real-time communication module is for instructing host computer and PMAC controller real-time communication.Program is downloaded and is held
Row module is downloaded for PMAC controller or executes PLC program, to realize the automatic running of system.Manual control module is used
Switch or relay on manual operation operation panel, manually control the movement of motor.Real-time monitoring module is used for each coordinate
The Dynamically Announce of the real time position of axis, real-time speed and Real-time Error.
The present invention is due to using above technical scheme, and have significant technical effect: the application uses air-flotation type guide rail
The movement for supporting workbench has the characteristics that simple structure, light quality and flexible design.Pass through pid algorithm feedback operation platform
Speed and displacement, particularly by the double feedbacks of grating scale and laser interferometer so that worktable displacement and speed responsive are more accurate,
Guarantee that movable workbench is more accurate.
Detailed description of the invention
Fig. 1 is the control principle drawing of PMAC high-precision control system of the present invention.
Fig. 2 is the topology layout figure of PMAC high-precision control system of the present invention.
Fig. 3 is the software system structure layout of PMAC high-precision control system of the present invention.
Fig. 4 is the drive and control of electric machine algorithm principle figure of PMAC high-precision control system of the present invention.
Specific embodiment
Present invention is further described in detail with embodiment with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, a kind of to be based on PMAC high-precision control system, comprising: host computer, for working table movement
State is monitored, and is configured to the kinematic parameter of workbench, is also communicated with the next PMAC controller；PMAC control
Device is connected with host computer, is analyzed for the exercise data to workbench, operation, will be in the motion state data of workbench
It is transmitted to host computer；Driver is connected with PMAC controller, X-axis guide rail driving motor, Y-axis guide rail driving motor respectively, according to
The instruction of PMAC controller respectively drives X-axis guide rail driving motor, Y-axis guide rail driving motor；X-axis guide rail and Y-axis guide rail, X-axis
Guide rail is movably arranged in Y-axis guide rail, and the Y-axis guide rail driving motor by being fixed in Y-axis guide rail drives；Workbench, work
It is mounted in X-axis guide rail as platform, is driven by the X-axis guide rail driving motor being fixed in X-axis；Grating scale, for detecting work
The movement position and angular movement speed data of platform, and corresponding data is uploaded to PMAC controller；Laser interferometer, for detecting work
Make the movement position and angular movement speed data of platform, and corresponding data is uploaded to PMAC controller.
Host computer is mainly used for client layer, and it mainly includes mainboard, and and mainboard that host computer, which can use common PC machine,
CPU, hard disk, display, keyboard and the network interface card being connected.It is communicated by network interface card and PMAC controller, realizes and PMAC is controlled
The transmission of data on device processed.Pass through the data of hard disc storage day part obtained.It is shown by display and is present customers
Data.Central control is carried out by CPU.Operation selection display items can be carried out by keyboard.The PMAC controller uses type
Number be IMAC400 controller.IMAC400 controller function is powerful, calculating speed is fast, reliable in quality, is the opening based on PC
Formula controller.The dominant frequency of IMAC400 is 80MHz, possesses user's static random access memory of 256k*24, possesses the full function of 4 axis
Energy motion control (pulse adds direction, analog quantity, complete digital PWM output), 16 road local digital I/O, expansible up to 2048
Digital remote I/O, the optional ADC input in 8 tunnels, 4 tunnels extension DAC output.It can be used for executing PLC program, to transfer electrical equipment
Do corresponding movement.Driver uses IMAC Drive servo-driver, which is applicable to any servo motor, nothing
Need computer that parameter is set, all parameters are all in controller.X-axis guide rail and Y-axis guide rail use the guide rail of air floatation form, can be effective
Relatively mini system frictional force so that system have faster motor imagination feature.Using high-resolution gration ruler and laser
Interferometer can effectively improve the positioning accuracy of system as position feedback device.Host computer is connected with PMAC controller, for showing
Show kinematic parameter.PMAC controller direct instruction driver, so that working table movement, grating scale and laser interferometer are for detecting
The real time position of workbench.
In the present embodiment, as shown in Figure 2, Figure 4 shows, affiliated driver includes driver 1 and driver 2, and driver 1 is distinguished
It is connected with PMAC controller, X-axis guide rail driving motor；Driver 2 is connected with PMAC controller, Y-axis guide rail driving motor respectively.
PMAC controller drives X-axis guide rail driving motor by driver 1, drives Y-axis guide rail driving motor, PMAC by driver 2
Controller is precisely controlled using pid algorithm, and proportion of utilization Ki/S, integral Kp, calculus Kds calculate control amount E (s).To
Realize the high-precision control of workbench.
In the present embodiment, as shown in Fig. 2, the control system further includes A/D signal transducer, A/D signal transducer
It is connected respectively with PMAC controller, grating scale.A set of grating scale is installed in Y-axis guide rail, for measure the movement of X-axis guide rail away from
From and speed, and then directly read the Y-axis moving distance and speed of workbench.A set of grating scale is installed in X-axis guide rail, is used for
Directly measure the X-axis of workbench mobile distance and speed.
In the present embodiment, as shown in Fig. 2, the laser interferometer is connected with A/D signal transducer.In Y-axis guide rail
A set of laser interferometer is installed, for measuring the moving distance and speed of X-axis guide rail, and then the Y-axis for directly reading workbench is moved
Dynamic distance and speed.A set of laser interferometer is installed in X-axis guide rail, the mobile distance of the X-axis for directly measuring workbench
And speed.
In the present embodiment, as shown in Fig. 2, also setting up the port I/O in the control system, PMAC controller passes through I/O
Port connects power switch and operation panel.There is I/O pin on general PMAC controller, it, can be so as to by connecting the port I/O
In each power switch of connection and operation panel.Power switch is used for the startup and shutdown of system equipment.Operation panel is used for system
The control of equipment operates.
In the present embodiment, as shown in Fig. 2, limit switch is arranged in the control system, limit switch connects the end I/O
Mouthful.Several limit switches are set in this control system.One limit switch is respectively wherein set at Y-axis guide rail both ends, for limiting
The Y-direction motion range of X-axis guide rail processed, when X-axis guide rail encounters the limit switch at Y-axis guide rail both ends, by stop motion or toward instead
Direction is mobile.At the both ends of X-axis guide rail, one limit switch is respectively set, be same as limitation X-axis guide rail upper table X to movement model
It encloses, when workbench encounters the limit switch at the both ends of X-axis guide rail, workbench is moved by stop motion or to opposite direction.
In the present embodiment, as shown in figure 3, the control system further includes system software, the system software includes
Real-time control module for the non real-time control module of kinematic parameter to be arranged and for monitoring, executing.
In the present embodiment, as shown in figure 3, the non real-time control module includes system initialization module, kinematic parameter
Setup module, online instruction module.System initialization module saves data when system factory, can by system initialization module
System parameter to be reverted to setting when factory.Kinematic parameter setup module includes the X for controlling X-axis guide rail driving motor
Axis parameter module and Y-axis parameter module for controlling Y-axis guide rail driving motor.X-axis parameter module and Y-axis parameter module include
Acceleration, speed, displacement, time parameter.Online instruction module is for the setting and adjusting during system motion.
In the present embodiment, as shown in figure 3, the real-time control module includes real-time communication module, program downloading and holds
Row module, manual control module, real-time monitoring module.Real-time communication module is for instructing host computer and PMAC controller to lead in real time
News.Program downloading downloads for PMAC controller with execution module or executes PLC program, to realize the automatic running of system.
Manual control module, switch or relay for being manually operated on operation panel, manually controls the movement of motor.Real time monitoring
Module is for the real time position of each reference axis, the Dynamically Announce of real-time speed and Real-time Error.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (9)
1. one kind is based on PMAC high-precision control system, it is characterised in that: including,
Host computer for being monitored to working table movement state, and is configured the kinematic parameter of workbench, also with bottom
PMAC controller is communicated；
PMAC controller, is connected with host computer, is analyzed for the exercise data to workbench, operation, by the fortune of workbench
Dynamic status data is uploaded to host computer；
Driver is connected with PMAC controller, X-axis guide rail driving motor, Y-axis guide rail driving motor respectively, is controlled according to PMAC
The instruction of device respectively drives X-axis guide rail driving motor, Y-axis guide rail driving motor；
X-axis guide rail and Y-axis guide rail, X-axis guide rail are movably arranged in Y-axis guide rail, and the Y-axis by being fixed in Y-axis guide rail is led
The driving of rail driving motor；
Workbench, workbench are mounted in X-axis guide rail, are driven by the X-axis guide rail driving motor being fixed in X-axis；
Grating scale is uploaded to PMAC control for detecting the movement position and angular movement speed data of workbench, and by corresponding data
Device；
Corresponding data for detecting the movement position and angular movement speed data of workbench, and is uploaded to PMAC by laser interferometer
Controller.
2. according to claim 1 a kind of based on PMAC high-precision control system, it is characterised in that: affiliated driver packet
Driver 1 and driver 2 are included, driver 1 is connected with PMAC controller, X-axis guide rail driving motor respectively；Driver 2 respectively with
PMAC controller, Y-axis guide rail driving motor are connected.
3. according to claim 1 or 2 a kind of based on PMAC high-precision control system, it is characterised in that: the control
System further includes A/D signal transducer, and A/D signal transducer is connected with PMAC controller, grating scale respectively.
4. according to claim 3 a kind of based on PMAC high-precision control system, it is characterised in that: the laser interference
Instrument is connected with A/D signal transducer.
5. according to claim 1 or 2 a kind of based on PMAC high-precision control system, it is characterised in that: the control
The port I/O is also set up in system, PMAC controller connects power switch and operation panel by the port I/O.
6. according to claim 5 a kind of based on PMAC high-precision control system, it is characterised in that: the control system
Upper setting limit switch, limit switch connect the port I/O.
7. according to claim 1 a kind of based on PMAC high-precision control system, it is characterised in that: the control system
Further include system software, the system software include non real-time control module for kinematic parameter to be arranged and for monitoring,
The real-time control module of execution.
8. according to claim 7 a kind of based on PMAC high-precision control system, it is characterised in that: the non real-time control
Molding block includes system initialization module, kinematic parameter setup module, online instruction module.
9. according to claim 7 or 8 a kind of based on PMAC high-precision control system, it is characterised in that: described is real-time
Control module includes real-time communication module, program downloading and execution module, manual control module, real-time monitoring module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910846989.0A CN110531695A (en) | 2019-09-09 | 2019-09-09 | One kind being based on PMAC high-precision control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910846989.0A CN110531695A (en) | 2019-09-09 | 2019-09-09 | One kind being based on PMAC high-precision control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110531695A true CN110531695A (en) | 2019-12-03 |
Family
ID=68667687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910846989.0A Pending CN110531695A (en) | 2019-09-09 | 2019-09-09 | One kind being based on PMAC high-precision control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110531695A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857042A (en) * | 2020-08-19 | 2020-10-30 | 大连海事大学 | PMAC-based five-axis high-precision positioning control system and working method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6734649B1 (en) * | 2003-01-08 | 2004-05-11 | Trw Automotive U.S. Llc | Dynamic tuning of current loop controller for a permanent magnet brushless motor |
| CN102629122A (en) * | 2012-04-17 | 2012-08-08 | 中国科学院光电技术研究所 | Long-stroke high-speed dual-drive nano positioning system |
| CN106873401A (en) * | 2015-12-13 | 2017-06-20 | 申久祝 | A kind of paint-spray robot control system based on PMAC |
| CN107482957A (en) * | 2017-08-30 | 2017-12-15 | 深圳市圆梦精密技术研究院 | Linear motor control system and method |
-
2019
- 2019-09-09 CN CN201910846989.0A patent/CN110531695A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6734649B1 (en) * | 2003-01-08 | 2004-05-11 | Trw Automotive U.S. Llc | Dynamic tuning of current loop controller for a permanent magnet brushless motor |
| CN102629122A (en) * | 2012-04-17 | 2012-08-08 | 中国科学院光电技术研究所 | Long-stroke high-speed dual-drive nano positioning system |
| CN106873401A (en) * | 2015-12-13 | 2017-06-20 | 申久祝 | A kind of paint-spray robot control system based on PMAC |
| CN107482957A (en) * | 2017-08-30 | 2017-12-15 | 深圳市圆梦精密技术研究院 | Linear motor control system and method |
Non-Patent Citations (1)
| Title |
|---|
| 吴广荣: "《基于PMAC的直线驱动气浮精密定位平台控制系统的研究与》", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857042A (en) * | 2020-08-19 | 2020-10-30 | 大连海事大学 | PMAC-based five-axis high-precision positioning control system and working method |
| CN111857042B (en) * | 2020-08-19 | 2024-04-26 | 大连海事大学 | Five-axis high-precision positioning control system based on PMAC and working method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1823310B (en) | Apparatus and method for controlling a industrial robot | |
| US9593927B2 (en) | Dynamical monitoring and modelling of a coordinate measuring machine | |
| CN102809358B (en) | Coordinate positioning machine | |
| CN104552300B (en) | A kind of off-line programing teaching apparatus based on teaching robot and method | |
| CN100581753C (en) | Teaching method for glazing robot off-line teaching device | |
| JP5127934B2 (en) | Machine motion trajectory measuring device, numerically controlled machine tool, and machine motion trajectory measuring method | |
| JP5428965B2 (en) | Display device, display control method, program, and computer-readable recording medium | |
| US9797700B2 (en) | Variable modelling of a measuring device | |
| CN102059699B (en) | Device and method for controlling three degree of freedom hybrid drive flexible cable parallel robot | |
| CN103872973B (en) | Revise the Servocontrol device of site error when moving body reverses | |
| US20200217654A1 (en) | Active damping of a measuring device | |
| CN101871851A (en) | Loading test device for five-axis linkage machine tools | |
| JP6915441B2 (en) | Information processing equipment, information processing methods, and information processing programs | |
| CN104914864A (en) | Mobile device, mobile device control system and control method | |
| JP2018073136A (en) | Machine learning apparatus and processing time prediction system | |
| US5270627A (en) | Machine tool control system | |
| CN101231517B (en) | Production method for automatically setting axial processing parameter | |
| CN110531695A (en) | One kind being based on PMAC high-precision control system | |
| CN110161852A (en) | A kind of mobile mechanical arm motion control method based on Second Order Sliding Mode algorithm | |
| CN109946602A (en) | A kind of robot servo motors performance testing device | |
| CN206504070U (en) | A kind of voice coil motor drives two-dimensional ultraprecise locating platform | |
| CN102830711A (en) | Large-stroke and high-precision micro-motion platform | |
| CN101806580A (en) | Motion control system and method for high-precision image measuring apparatus | |
| CN204322082U (en) | A kind of off-line programing teaching apparatus based on teaching robot | |
| CN202771265U (en) | Large stroke and high precision microchecker |
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: 20191203 |