CN110640738A - Industrial robot platform of developments seizure - Google Patents
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Abstract
An industrial robot platform for dynamic capture comprises an industrial robot control system, a sensor system, an operation system, a network integrated control system, a visual tracking system and an execution mechanism, wherein the sensor system is connected with the industrial robot control system, the industrial robot control system comprises a demonstrator and a motion controller, the operation system comprises an industrial computer, the visual tracking system comprises an RGB (red, green and blue) camera, a laser scanner, a tracking camera and a radio frequency receiving and transmitting device, the sensor system comprises a plurality of six-axis sensors, an optical sensor, a motion sensor and a Hall current sensor, the execution mechanism comprises a mechanical part and an electric part, an infrared camera, the six-axis sensors, an infrared light source, a data acquisition device, a multi-path synchronous controller, an L-shaped target, a cross target, a spherical target and a calibration device form the dynamic capture system of an industrial robot end effector, the measurement of the motion precision of the industrial robot is realized.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a dynamic-capture industrial robot platform.
Background
With the current level of industrial automation becoming higher and higher, industries are gaining more and more importance, and they can skillfully and accurately perform complex tasks that may not be accomplished at all by people due to environmental or other factors. The industrial robot is mainly applied to automobile part manufacturing and assembling, mechanical automatic manufacturing, toxic chemical product production, standard assembly line operation, high-risk environment equipment installation, nuclear radiation field operation, extreme environment operation and the like.
However, the prior art lacks a system for capturing and calibrating the motion of an industrial robot.
Disclosure of Invention
The invention provides a dynamic capturing industrial robot platform, which aims to solve the technical problem of how to capture and calibrate an industrial robot,
the technical scheme of the invention is as follows: an industrial robot platform capable of dynamic capture comprises an industrial robot control system, a sensor system, an operation system, a network integrated control system, a visual tracking system and an execution mechanism, wherein the sensor system is connected with the industrial robot control system,
the control system receives data of the sensor system and the visual tracking system through the network integrated control system and sends a control instruction to the industrial robot control system, the industrial robot control system controls the execution mechanism, the sensor system is arranged on the execution mechanism and monitors the pose state of the execution mechanism in real time, the sensor system and the visual tracking system are also connected with the industrial robot control system and used for feeding back the working state of the execution mechanism in real time and monitoring the surrounding environment,
wherein the industrial robot control system comprises a demonstrator and a motion controller,
wherein the control system comprises an industrial personal computer,
wherein the visual tracking system comprises an RGB camera, a laser scanner, a tracking camera and a radio frequency transmitting and receiving device,
wherein the sensor system comprises a plurality of six-axis sensors, an optical sensor, a motion sensor and a Hall current sensor,
wherein the actuating mechanism comprises a mechanical part and an electric part,
the network integrated control system searches for industrial robots existing in the local area network and is connected to corresponding motion controllers, the motion sensors are operated and the six-axis sensors are cleared, the motion sensors collect pose information of end effectors of the execution mechanisms to guide the motion of the industrial robots, and the pose information is displayed on a screen of the demonstrator in real time.
Industrial robot communication is divided into two stages: the first-level communication is communication between a control system and an industrial robot control system, and adopts a serial communication technology or a network communication technology; the second-level communication is communication among the industrial robot control system, the sensor system and the visual tracking system, and adopts an industrial field bus communication technology.
The dynamic capturing system of the industrial robot end effector is composed of the infrared camera, the six-axis sensor, the infrared light source, the data collector, the multi-path synchronous controller, the L-shaped target, the cross target, the spherical target and the calibration device, and measurement of the motion precision of the industrial robot is achieved.
The four infrared cameras are fixed on the platform, the six-axis sensor is installed on an end effector of the industrial robot, the infrared cameras are uniformly distributed above a measuring space, characteristic points of the end effector are captured by the infrared cameras, and measurement is free of blind spots; the six-axis sensor is used as system terminal measuring equipment to acquire the space attitude of the tail end of the industrial robot in real time, the spherical target is fixed at the tail end of the industrial robot, and the association between the processing system and the measuring system is established, so that an error model of the internal and external parameters of the industrial robot under a visual coordinate system is established, the cross target realizes visual space self-calibration, and the L-shaped target assists in establishing the visual coordinate system.
The invention has the beneficial effects that:
(1) the motion of the robot is captured through a dynamic capturing system, so that the motion precision of the industrial robot is measured and calibrated;
(2) the optical coupling isolation circuit greatly improves the reliability of hardware;
(3) by using secondary communication, flexible control over the industrial robot is realized;
(4) the actuating mechanism adopts a parallelogram, so that the rigidity of the whole structure is increased, and the stability of the system is improved;
(5) the three-point positioning method is used, the influence of the external environment on the positioning precision is effectively reduced, the calculation amount is small, and the method is very suitable for positioning the workpiece in real time;
drawings
Fig. 1 is a block diagram of an industrial robot system of the present invention;
FIG. 2 is a mechanical block diagram of the actuator of the present invention;
FIG. 3 is a flow chart of the dynamic capture system data process of the present invention;
FIG. 4 is a three point positioning schematic of the present invention;
FIG. 5 is a flow chart of the three-point positioning of the present invention;
Detailed Description
The invention will be further described with reference to the accompanying drawings.
An industrial robot platform capable of dynamic capture comprises an industrial robot control system, a sensor system, an operation system, a network integrated control system, a visual tracking system and an execution mechanism, wherein the sensor system is connected with the industrial robot control system,
the control system receives data of the sensor system and the visual tracking system through the network integrated control system and sends a control instruction to the industrial robot control system, the industrial robot control system controls the execution mechanism, the sensor system is arranged on the execution mechanism and monitors the pose state of the execution mechanism in real time, the sensor system and the visual tracking system are also connected with the industrial robot control system and used for feeding back the working state of the execution mechanism in real time and monitoring the surrounding environment,
wherein the industrial robot control system comprises a demonstrator and a motion controller,
wherein the control system comprises an industrial personal computer,
wherein the visual tracking system comprises an RGB camera, a laser scanner, a tracking camera and a radio frequency transmitting and receiving device,
wherein the sensor system comprises a plurality of six-axis sensors, an optical sensor, a motion sensor and a Hall current sensor,
wherein the actuating mechanism comprises a mechanical part and an electric part,
the network integrated control system searches for industrial robots existing in the local area network and is connected to corresponding motion controllers, the motion sensors are operated and the six-axis sensors are cleared, the motion sensors collect pose information of end effectors of the execution mechanisms to guide the motion of the industrial robots, and the pose information is displayed on a screen of the demonstrator in real time.
Industrial robot communication is divided into two stages: the first-level communication is communication between a control system and an industrial robot control system, and adopts a serial communication technology or a network communication technology; the second-level communication is communication among the industrial robot control system, the sensor system and the visual tracking system, and adopts an industrial field bus communication technology.
The mechanical part comprises a base, a connecting piece, a big arm, a small arm, a wrist, an end effector and a rotary joint, wherein the rotary joint is respectively positioned between the base and the connecting piece, between the connecting piece and the big arm, between the big arm and the small arm and between the wrist and the end effector, the base is a bearing base part and is fixed on the ground or a support, the connecting piece is a supporting part of the big arm and realizes the rotation function of the robot, the connecting piece rotates on the base, the big arm is a supporting part of the small arm, the swinging of the big arm changes the stroke of the end effector in the horizontal direction, the pitching of the small arm realizes the position transformation of the end effector in the vertical direction, and the rotary joint of the end effector of the wrist adjusts the rotation angle and the position of a bearing.
The joint seat of the base is connected with a rotary joint with the axis vertical to the ground, the joint seat is arranged on the base and used for supporting the big arm, the small arm and the connecting rod for keeping the wrist horizontal are arranged on the joint seat, the big arm, the small arm and the connecting rod form a parallelogram, the rigidity of the whole arm is increased, the easy control performance of the wrist is met through the superposition effect of a serial parallelogram mechanism, the wrist is a flange plate, and a vacuum chuck is connected to the flange plate according to different requirements of a user.
The structure increases the rigidity of the whole arm part, the interaction of the parallelograms increases the rigidity of the whole robot transmission system, reduces the robot vibration caused under the conditions of starting and sudden stop, enlarges the stroke, reduces the system inertia, saves the cost, simultaneously increases the stability of the system, simplifies the control of the pose of the robot by utilizing the parallelogram principle of the transfer robot, reduces the difficulty of process control, and can shorten the working period and the research, development and design cost of the robot.
Wherein, the power part comprises an encoder, a decoding circuit, an optical coupling isolation circuit, a permanent magnet synchronous servo motor (PMSM), a speed reducer and an intelligent power control module (IPM), a Hall current sensor collects the U-phase and V-phase current of the permanent magnet synchronous servo motor and feeds back the current to the motion controller, the encoder feeds back the actual position of the permanent magnet synchronous servo motor to the motion controller in real time through the decoding circuit, the motion controller receives the target position information through a serial bus, the target position, the actual position and the actual current are subjected to single-shaft logic control in the motion controller, the pulse width modulation is output through the time sequence scheduling of vector control and is provided for the intelligent power control module through the optical coupling isolation circuit and converted into a power control signal, the optical coupling isolation circuit realizes the complete isolation of the control part circuit and the power part circuit, the intelligent power control module drives the permanent magnet synchronous servo motor to operate, an output shaft of the permanent magnet synchronous servo motor is connected with the speed reducer, the speed reducer is connected with a rotary joint of the mechanical part, and the speed reducer is controlled by the motion controller to realize fine adjustment of actions.
The dynamic capturing system of the industrial robot end effector is composed of the infrared camera, the six-axis sensor, the infrared light source, the data collector, the multi-path synchronous controller, the L-shaped target, the cross target, the spherical target and the calibration device, and measurement of the motion precision of the industrial robot is achieved.
The four infrared cameras are fixed on the platform, the six-axis sensor is installed on an end effector of the industrial robot, the infrared cameras are uniformly distributed above a measuring space, characteristic points of the end effector are captured by the infrared cameras, and measurement is free of blind spots; six sensors acquire industrial robot end space gesture as system terminal measuring equipment in real time, and the association between system of processing and measurement system is established to the fixed spherical target in industrial robot end to the internal and external parameter error model of industrial robot under the visual coordinate system is found, and the cross target realizes that the visual space is from demarcating, and the visual coordinate system is established in the assistance of L shape target, and the processing of dynamic capture system data can divide into 4 main steps:
step 1, completing self-calibration by using a cross target, enhancing the matching of a visual space and a working space of an infrared camera, and improving the precision of a measuring system;
step 2, establishing a visual coordinate system by using the L-shaped target to complete the construction of the coordinate system of the measuring system;
step 3, fixing the spherical target at the tail end of the industrial robot, capturing and resolving a spatial coordinate of the spherical target through angle intersection by an infrared camera, resolving a tail end coordinate system according to the geometric relation between the position of the tail end actuator and the spherical target, and obtaining a conversion relation between a measurement coordinate system and a body coordinate system of the industrial robot according to a conversion matrix between the body coordinate system of the industrial robot and each joint coordinate system, so as to realize the unification of the coordinate systems of the measurement coordinate system and the body coordinate system of the industrial robot;
step 4, the six-axis sensor is installed on a positioning support of the end effector to obtain the attitude of the end effector relative to a terrestrial coordinate system, data of the infrared camera and the six-axis sensor are respectively transmitted to the industrial personal computer through high-speed Ethernet port and serial port communication, the current real-time compensation quantity of the industrial robot is obtained through the redundant data processing module, and a motion instruction is generated to control the industrial robot to adjust the running track;
the spherical target is a three-dimensional star-shaped structure consisting of 5 high-precision reflecting target balls, a high infrared reflectivity coating is sprayed on the surface of the spherical target, the spherical mark has rotation invariance and is not limited by an optical axis of an infrared camera and a normal vector included angle of a mark point plane, the infrared camera captures complete circular features at any angle, the high infrared reflectivity coating is sprayed on the surface of the spherical mark, an infrared LED annular lamp is coaxially arranged at the front end of the infrared camera, the infrared camera is sensitive to the infrared reflection coating, the infrared camera realizes the acquisition of effective information of a target ball image under the condition of less shielding, the correct extraction of feature edges and feature points is facilitated, and the problem that the geometric features of a target cannot be effectively extracted by the infrared camera under similar conditions is avoided.
The center of a workpiece with an FR label is positioned by using a radio frequency manipulation device, 3 radio frequency transceiving devices are arranged on three corners of a base, the FRI D labels are arranged on the workpiece, the position of the workpiece is obtained by using a three-point positioning method, so that an actuating mechanism can smoothly grab the workpiece,
the radio frequency transceiver includes radio frequency launcher and radio frequency receiving arrangement, the radio frequency launcher includes transmitting antenna, radio frequency generating module, microprocessor, memorizer and battery, 3 radio frequency launchers form the network, the memorizer stores the identification data of the radio frequency launcher, the microprocessor modulates the identification data to the carrier signal that the frequency produced by the radio frequency generating module is sine wave, produce the modulating signal and launch through the transmitting antenna;
the radio frequency receiving device comprises a receiving antenna and a radio frequency signal processing device, the receiving antenna receives a modulation signal transmitted by the radio frequency transmitting device, and the radio frequency signal processing device demodulates the modulation signal to acquire identity data of the radio frequency transmitting device and acquire a signal amplitude;
the industrial personal computer receives the identity data and the signal amplitude provided by the radio frequency receiving device, and calculates the position of the workpiece by using a three-point positioning method according to the identity data and the signal amplitude;
the three-point positioning method specifically comprises the following steps:
step 1, sequencing received signal amplitudes to obtain corresponding radio frequency transmitting device identities, wherein the positions of the radio frequency transmitting devices are sequentially O from strong to weak1(x1,y1)、O2(x2,y2)、O3(x3,y3)；
Step 2, each radio frequency emission device is far away from the workpiece T (x)T,yT) A distance r of1、r2、r3Can be calculated according to the following relation,
step 3, establishing an equation set,
solving the above equation set to obtain two sets of solutions T1(xT,yT) And T2(xT,yT)；
Step 4, determining the coordinate point of the minimum line segment, establishing an equation set,
solving the above equation set to obtain two sets of solutions T3(xT,yT) And T4(xT,yT)；
Solving the above equation set to obtain two sets of solutions T5(xT,yT) And T6(xT,yT)；
Respectively calculating the line segments T3T5、T3T6、T4T5、T4T6Taking two points T corresponding to the minimum line segment3、4min(xT,yT) And T5、6min(xT,yT)；
Step 5, two points T are arranged3、4min(xT,yT) And T5、6min(xT,yT) Respectively with T1(xT,yT) And T2(xT,yT) Length calculation is carried out to obtain T1T3、4min，T2T3、4min，T1T5、6min，T2T5、6minComparison of T1T3、4min+T1T5、6minAnd T2T3、4min+T2T5、6minThe minimum value is taken to correspond to the solution T1(xT,yT) Or T2(xT,yT) The true position of the workpiece.
In the radio frequency positioning, the change of the environment is difficult to predict, the loss coefficient is difficult to accurately set, the loss coefficient and the path have exponential influence, and the influence of the loss coefficient is larger when the distance is larger, so that the influence of the loss coefficient can be reduced by using a small number of radio frequency transmitters which are close to a target device as far as possible, and the positioning precision is improved.
The above-described embodiment merely represents one embodiment of the present invention, but is not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. An industrial robot platform capable of dynamic capture comprises an industrial robot control system, a sensor system, an operation system, a network integrated control system, a visual tracking system and an execution mechanism, wherein the sensor system is connected with the industrial robot control system,
wherein the industrial robot control system comprises a demonstrator and a motion controller,
wherein the control system comprises an industrial personal computer,
wherein the visual tracking system comprises an RGB camera, a laser scanner, a tracking camera and a radio frequency transmitting and receiving device,
wherein the sensor system comprises a plurality of six-axis sensors, an optical sensor, a motion sensor and a Hall current sensor,
wherein the actuating mechanism comprises a mechanical part and an electric part,
the dynamic capturing system of the industrial robot end effector is composed of the infrared camera, the six-axis sensor, the infrared light source, the data collector, the multi-path synchronous controller, the L-shaped target, the cross target, the spherical target and the calibration device, and measurement of the motion precision of the industrial robot is achieved.
2. A motion capture industrial robot platform according to claim 1, wherein:
the four infrared cameras are fixed on the platform, the six-axis sensor is installed on an end effector of the industrial robot, the infrared cameras are uniformly distributed above a measuring space, characteristic points of the end effector are captured by the infrared cameras, and measurement is free of blind spots; the six-axis sensor is used as system terminal measuring equipment to acquire the space attitude of the tail end of the industrial robot in real time, the spherical target is fixed at the tail end of the industrial robot, and the association between the processing system and the measuring system is established, so that an error model of the internal and external parameters of the industrial robot under a visual coordinate system is established, the cross target realizes visual space self-calibration, and the L-shaped target assists in establishing the visual coordinate system.
3. A motion capture industrial robot platform according to claim 2, wherein the processing of the motion capture system data is divided into 4 main steps:
step 1, completing self-calibration by using a cross target, enhancing the matching of a visual space and a working space of an infrared camera, and improving the precision of a measuring system;
step 2, establishing a visual coordinate system by using the L-shaped target to complete the construction of the coordinate system of the measuring system;
step 3, fixing the spherical target at the tail end of the industrial robot, capturing and resolving a spatial coordinate of the spherical target through angle intersection by an infrared camera, resolving a tail end coordinate system according to the geometric relation between the position of the tail end actuator and the spherical target, and obtaining a conversion relation between a measurement coordinate system and a body coordinate system of the industrial robot according to a conversion matrix between the body coordinate system of the industrial robot and each joint coordinate system, so as to realize the unification of the coordinate systems of the measurement coordinate system and the body coordinate system of the industrial robot;
and 4, mounting the six-axis sensor on a positioning support of the end effector to obtain the attitude of the end effector relative to a terrestrial coordinate system, transmitting the data of the infrared camera and the six-axis sensor into an industrial personal computer through high-speed Ethernet port and serial port communication respectively, obtaining the current real-time compensation quantity of the industrial robot through the redundant data processing module, and generating a motion instruction to control the industrial robot to adjust the running track.
4. A motion capture industrial robot platform according to claim 3, wherein: the spherical target is a three-dimensional star-shaped structure consisting of 5 high-precision reflecting target balls, a high infrared reflectivity coating is sprayed on the surface of the spherical target, the spherical mark has rotation invariance and is not limited by an optical axis of an infrared camera and a plane normal vector included angle of a mark point, the infrared camera captures complete circular features at any angle, the high infrared reflectivity coating is sprayed on the surface of the spherical mark, an infrared LED annular lamp is coaxially arranged at the front end of the infrared camera, the infrared camera is sensitive to the infrared reflectivity coating, the infrared camera realizes the acquisition of effective information of a target ball image under the condition of less shielding, the correct extraction of the feature edge and the feature point is facilitated, and the problem that the geometric features of the target cannot be effectively extracted by the infrared camera under the similar condition is avoided.
5. A motion capture industrial robot platform according to claim 1, wherein:
the center of a workpiece with an FR label is positioned by using a radio frequency manipulation device, 3 radio frequency transceiving devices are arranged on three corners of a base, the FRID labels are arranged on the workpiece, the position of the workpiece is obtained by using a three-point positioning method, so that an actuating mechanism can smoothly grab the workpiece,
the radio frequency transceiver includes radio frequency launcher and radio frequency receiving arrangement, the radio frequency launcher includes transmitting antenna, radio frequency generating module, microprocessor, memorizer and battery, 3 radio frequency launchers form the network, the memorizer stores the identification data of the radio frequency launcher, the microprocessor modulates the identification data to the carrier signal that the frequency produced by the radio frequency generating module is sine wave, produce the modulating signal and launch through the transmitting antenna;
the radio frequency receiving device comprises a receiving antenna and a radio frequency signal processing device, the receiving antenna receives a modulation signal transmitted by the radio frequency transmitting device, and the radio frequency signal processing device demodulates the modulation signal to acquire identity data of the radio frequency transmitting device and acquire a signal amplitude;
the industrial personal computer receives the identity data and the signal amplitude provided by the radio frequency receiving device, and calculates the position of the workpiece by using a three-point positioning method according to the identity data and the signal amplitude.
6. A motion capture industrial robot platform according to claim 5, characterized in that:
the three-point positioning method specifically comprises the following steps:
step 1, sequencing received signal amplitudes to obtain corresponding radio frequency transmitting device identities, wherein the positions of the radio frequency transmitting devices are sequentially O from strong to weak1(x1,y1)、O2(x2,y2)、O3(x3,y3)；
Step 2, each radio frequency emission device is far away from the workpiece T (x)T,yT) A distance r of1、r2、r3Can be calculated according to the following relation,
step 3, establishing an equation set,
solving the above equation set to obtain two sets of solutions T1(xT,yT) And T2(xT,yT)；
Step 4, determining the coordinate point of the minimum line segment, establishing an equation set,
solving the above equation set to obtain two sets of solutions T3(xT,yT) And T4(xT,yT)；
Solving the above equation set to obtain two sets of solutions T5(xT,yT) And T6(xT,yT)；
Respectively calculating the line segments T3T5、T3T6、T4T5、T4T6Taking two points T corresponding to the minimum line segment3、4min(xT,yT) And T5、6min(xT,yT)；
Step 5, two points T are arranged3、4min(xT,yT) And T5、6min(xT,yT) Respectively with T1(xT,yT) And T2(xT,yT) Length calculation is carried out to obtain T1T3、4min，T2T3、4min，T1T5、6min，T2T5、6minComparison of T1T3、4min+T1T5、6minAnd T2T3、4min+T2T5、6minThe minimum value is taken to correspond to the solution T1(xT,yT) Or T2(xT,yT) The true position of the workpiece.
7. A motion capture industrial robot platform according to claim 1, wherein: the mechanical part comprises a base, a connecting piece, a big arm, a small arm, a wrist, an end effector and a rotary joint, wherein the rotary joint is respectively positioned between the base and the connecting piece, between the connecting piece and the big arm, between the big arm and the small arm and between the wrist and the end effector, the base is a bearing base part and is fixed on the ground or a support, the connecting piece is a supporting part of the big arm and realizes the rotation function of the robot, the connecting piece rotates on the base, the big arm is a supporting part of the small arm, the swinging of the big arm changes the stroke of the end effector in the horizontal direction, the pitching of the small arm realizes the position transformation of the end effector in the vertical direction, and the rotary joint of the end effector of the wrist adjusts the rotating angle and the position of.
The joint seat of the base is connected with a rotary joint with the axis vertical to the ground, the joint seat is arranged on the base and used for supporting the big arm, the small arm and the connecting rod for keeping the wrist horizontal are arranged on the joint seat, the big arm, the small arm and the connecting rod form a parallelogram, the rigidity of the whole arm is increased, the easy control performance of the wrist is met through the superposition effect of a serial parallelogram mechanism, the wrist is a flange plate, and a vacuum chuck is connected to the flange plate according to different requirements of a user.
8. A motion capture industrial robot platform according to claim 1, wherein: the electric power part comprises an encoder, a decoding circuit, an optical coupling isolation circuit, a permanent magnet synchronous servo motor, a speed reducer and an intelligent power control module, a Hall current sensor collects U-phase current and V-phase current of the permanent magnet synchronous servo motor and feeds back the U-phase current and the V-phase current to a motion controller, the encoder feeds back the actual position of the permanent magnet synchronous servo motor to the motion controller in real time through the decoding circuit, the motion controller receives target position information through a serial bus, the target position, the actual position and the actual current are subjected to single-axis logic control in the motion controller, and time sequence scheduling output pulse width modulation through vector control is provided for the intelligent power control module through the optical coupling isolation circuit.
9. A motion capture industrial robot platform according to claim 1, wherein: the control system receives data of the sensor system and the visual tracking system through the network integrated control system and sends a control instruction to the industrial robot control system, the industrial robot control system controls the execution mechanism, the sensor system is installed on the execution mechanism and monitors the pose state of the execution mechanism in real time, and the sensor system and the visual tracking system are connected with the industrial robot control system and used for feeding back the working state of the execution mechanism in real time and monitoring the surrounding environment.
10. A motion capture industrial robot platform according to claim 1, wherein:
the network integrated control system searches for industrial robots existing in the local area network and is connected to corresponding motion controllers, the motion sensors are operated and the six-axis sensors are cleared, the motion sensors collect pose information of end effectors of the execution mechanisms to guide the motion of the industrial robots, and the pose information is displayed on a screen of the demonstrator in real time;
industrial robot communication is divided into two stages: the first-level communication is communication between a control system and an industrial robot control system, and adopts a serial communication technology or a network communication technology; the second-level communication is communication among the industrial robot control system, the sensor system and the visual tracking system, and adopts an industrial field bus communication technology.
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| CN201811320531.3A CN109129492A (en) | 2018-11-07 | 2018-11-07 | A kind of industrial robot platform that dynamic captures |
| CN2018113205313 | 2018-11-07 |
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| CN117075539A (en) * | 2023-10-16 | 2023-11-17 | 歌尔股份有限公司 | Six-axis platform control method, device, equipment and computer readable storage medium |
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| CN109605344B (en) * | 2019-01-09 | 2021-02-09 | 北京精密机电控制设备研究所 | Multi-degree-of-freedom open-loop stepping series mechanical arm and control method thereof |
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| CN110333722A (en) * | 2019-07-11 | 2019-10-15 | 北京电影学院 | A kind of robot trajectory generates and control method, apparatus and system |
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| CN111360789B (en) * | 2020-03-23 | 2021-11-16 | 广东美的白色家电技术创新中心有限公司 | Workpiece processing teaching method, control method and robot teaching system |
| CN112001945B (en) * | 2020-07-13 | 2023-04-07 | 西安理工大学 | Multi-robot monitoring method suitable for production line operation |
| CN113400318B (en) * | 2021-07-16 | 2023-03-24 | 四川成焊宝玛焊接装备工程有限公司 | Robot user coordinate system compensation method, automobile online edge rolling system and method |
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