CN113885407A - Control device and method for multi-shaft transferring equipment of quick-wear part - Google Patents

Control device and method for multi-shaft transferring equipment of quick-wear part Download PDF

Info

Publication number
CN113885407A
CN113885407A CN202111285534.XA CN202111285534A CN113885407A CN 113885407 A CN113885407 A CN 113885407A CN 202111285534 A CN202111285534 A CN 202111285534A CN 113885407 A CN113885407 A CN 113885407A
Authority
CN
China
Prior art keywords
action
equipment
control processor
control
stage
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
Application number
CN202111285534.XA
Other languages
Chinese (zh)
Inventor
徐巧玉
朱哲
周新稳
王军委
张正
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Luoyang Ginkgo Technology Co ltd
Original Assignee
Luoyang Ginkgo Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Luoyang Ginkgo Technology Co ltd filed Critical Luoyang Ginkgo Technology Co ltd
Priority to CN202111285534.XA priority Critical patent/CN113885407A/en
Publication of CN113885407A publication Critical patent/CN113885407A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—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
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24215—Scada supervisory control and data acquisition

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

A multi-axis transferring equipment control device for a consumable part comprises: the main control processor is used for receiving the upper control instruction and processing the upper control instruction to analyze the action parameters; and the slave control processor is used for receiving the action parameters, processing the action parameters to convert the action parameters into control signals and outputting the control signals to the action equipment. The invention provides a control device and a control method for multi-shaft transferring equipment of a quick-wear part, which can improve the running stability and reliability of action equipment.

Description

Control device and method for multi-shaft transferring equipment of quick-wear part
Technical Field
The invention relates to the field of multi-axis transfer equipment, in particular to a control device and a control method for multi-axis transfer equipment for a quick-wear part.
Background
For electronic accessories which are small in size and easy to damage, such as a liquid crystal panel and a chip, in the production process, a multi-axis motion device is usually adopted to realize the transfer of a wearing part, the multi-axis motion device comprises a control device and a plurality of actuators, the action directions of the actuators are all different, and one actuator at the tail end usually grabs the wearing part through a sucker. Currently, there are three main types of control devices: 1. PC-based motion control; 2. motion control based on PLC; 3. based on embedded motion control. The motion control based on the embedded type has the advantages of flexible use, high reliability, strong portability and the like, and becomes a mainstream design. In the prior art, STM32+ DSP is mainly used as a main controller and FPGA is used as a slave processor in embedded-based motion control, so that synchronous control of a multi-path motor is effectively realized, but the asynchronous control precision is low due to the adoption of a serial processing mode.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a control device and a control method for multi-shaft transferring equipment of a quick-wear part, which can improve the running stability and reliability of action equipment.
In order to achieve the purpose, the invention adopts the specific scheme that: a multi-axis transferring equipment control device for a consumable part comprises:
the main control processor is used for receiving the upper control instruction and processing the upper control instruction to analyze the action parameters;
and the slave control processor is used for receiving the action parameters, processing the action parameters to convert the action parameters into control signals and outputting the control signals to the action equipment.
As a further optimization of the control device of the multi-axis transferring equipment of the quick-wear part: the main control processor obtains an upper control instruction from an upper computer through the Ethernet module.
As a further optimization of the control device of the multi-axis transferring equipment of the quick-wear part: the slave control processor outputs the control signal to the action equipment through the interface driving module.
As a further optimization of the control device of the multi-axis transferring equipment of the quick-wear part: the interface driving module includes:
a differential drive circuit for outputting a control signal to the action device;
a differential receiving circuit for acquiring a feedback signal from the action device;
and the optical coupling isolation circuit is used for finishing the mutual conversion of the control signal and the feedback signal.
A multi-axis transferring equipment control method for a wearing part is based on the multi-axis transferring equipment control device for the wearing part, and is characterized by comprising the following steps:
s1, initializing the device and entering a preparation state;
s2, when the main control processor receives the upper control instruction, the upper control instruction is processed to analyze the action target data corresponding to the action equipment, and the action target data comprises the number, the speed and the displacement of the action equipment;
s3, the main control processor performs action planning based on the action target data to obtain action parameters;
s4, the master control processor sends the action parameters to the slave control processor, and the slave control processor processes the action parameters and converts the action parameters into control signals;
s5, the slave control processor outputs a control signal to the action equipment to drive the action equipment to act;
s6, acquiring action state data of the action equipment from the control processor in the action process of the action equipment;
s7, the slave control processor judges whether the action equipment operates normally or not based on the action state data, if the action equipment operates normally, the action equipment continues to operate, and if the action equipment does not operate normally, the slave control processor alarms and ends the action;
and S8, the slave control processor judges whether the action is finished or not, and if not, the slave control processor continuously requests the action parameters from the master control processor.
The control method of the multi-axis transferring equipment for the quick-wear parts is further optimized as follows: in the step S3, the master control processor divides the motion process of the motion device into an acceleration stage, a uniform acceleration stage, an acceleration reduction stage, a uniform velocity stage, an acceleration and deceleration stage, a uniform deceleration stage, and a deceleration reduction stage in sequence based on the motion target data during the motion planning process.
The control method of the multi-axis transferring equipment for the quick-wear parts is further optimized as follows: in S3, the method for calculating the acceleration at each stage is:
Figure BDA0003332806220000021
wherein a ismaxAt the maximum acceleration, nT is the duration of the acceleration stage, the deceleration stage, the acceleration stage and the deceleration stage, n is a correction coefficient, T0For the duration of the uniform acceleration and uniform deceleration phases, T1And T is the duration of the uniform speed stage and the duration of the whole action process of the action equipment.
The control method of the multi-axis transferring equipment for the quick-wear parts is further optimized as follows: in S3, the method for calculating the speed in each stage is:
Figure BDA0003332806220000031
the control method of the multi-axis transferring equipment for the quick-wear parts is further optimized as follows: in S3, the method for calculating the displacement at each stage is:
Figure BDA0003332806220000032
the control method of the multi-axis transferring equipment for the quick-wear parts is further optimized as follows: t is 4nT +2T0+T1。
Has the advantages that: the invention adopts a dual-processor architecture of the main control processor and the auxiliary control processor, completes the functions of Ethernet data communication, upper control instruction processing, state monitoring, speed planning and the like in the main control processor, completes the work of control signal output, state feedback, sampling processing and the like in the auxiliary control processor, and the main control processor and the auxiliary control processor carry out parallel processing, thereby realizing the real-time, stable and reliable control of the action equipment, and setting a high-efficiency and stable speed planning algorithm to further ensure the running stability of the action equipment.
Drawings
FIG. 1 is a block diagram showing the overall construction of a control device according to the present invention;
FIG. 2 is a hardware block diagram of the control apparatus of the present invention;
fig. 3 is a schematic diagram of an ethernet module;
FIG. 4 is a schematic diagram of the connection between the master processor and the slave processor;
FIG. 5 is a flow chart of a control method of the present invention;
FIG. 6 is a schematic diagram of a moving track of the wearing part;
fig. 7 is a graph showing the output result of Matlab software in a simulation test.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, a control device for a multi-axis transferring apparatus of a consumable part includes a master processor and a slave processor.
And the main control processor is used for receiving the upper control instruction and processing the upper control instruction to analyze the action parameters.
And the slave control processor is used for receiving the action parameters, processing the action parameters to convert the action parameters into control signals and outputting the control signals to the action equipment.
The invention is suitable for the existing four-axis vulnerable part detection system. When the device is used, the main control processor receives an upper control instruction from the upper computer, processes the upper control instruction to analyze the action parameter, the slave control processor receives the action parameter and converts the action parameter into a control signal, then outputs the control signal to the action equipment to control the action of the action equipment, and meanwhile, the main control processor also acquires the running state data of the slave control processor to realize the monitoring of the action equipment and feeds the running state data back to the upper computer under the control of the upper computer to realize the remote monitoring of the action equipment.
In the present invention, the master processor is an ARM processor, such as STM32H750 chip, and the slave processor is an FPGA chip, such as hurricane fourth generation EP4CE10F17C8N chip from Altera corporation. The communication between the master control processor and the slave control processor is realized through a high-speed SPI bus, the SPI clock is provided by the phase-locked loop of the master control processor for frequency doubling of an external 25MHz crystal oscillator to 130MHz, the reliability of the communication between the master control processor and the slave control processor is ensured, and the data communication is realized by matching an I/O as an interrupt signal pin.
In order to realize the communication between the main control processor and the upper computer, the main control processor obtains an upper control instruction from the upper computer through the Ethernet module. The ethernet module employs a SMSC LAN8720A, which connects to the LAN bus of the host processor through a RMII (reduced media independent) interface.
The specific connection mode of the slave control processor and the action equipment is as follows: the slave control processor outputs the control signal to the action equipment through the interface driving module. The interface driving module comprises a differential driving circuit, a differential receiving circuit and an optical coupling isolation circuit.
And the differential driving circuit is used for outputting the control signal to the action equipment. The differential driving circuit comprises a CA-IS3760 digital isolation chip and an AM26C31 converter, and a control signal generated by the slave control processor passes through the CA-IS3760 digital isolation chip and then IS converted into differential from single end through the AM26C31 converter, so that the control signal IS input to action equipment.
And the differential receiving circuit is used for acquiring the feedback signal from the action equipment. An encoder of the action equipment generates three paths of A +/A-, B +/B-and Z +/Z-differential signals as action state data, each group of differential signals are converted into single-ended signals through an AM26C32 converter and then input into a slave control processor, and therefore monitoring of the action equipment is achieved.
And the optical coupling isolation circuit is used for finishing the mutual conversion of the control signal and the feedback signal.
Referring to fig. 5 and 6, a method for controlling a multi-axis transferring device of a consumable part is based on the control apparatus of the multi-axis transferring device of the consumable part, and the method includes steps S1 to S8.
S1, initialize the device and enter a ready state. After entering the ready state, the master processor listens for ethernet signals.
And S2, when the master control processor receives the upper control instruction, processing the upper control instruction to analyze the action target data corresponding to the action equipment, wherein the action target data comprises the number, the speed and the displacement of the action equipment. In general, the four-axis wearing part detection system comprises four action axes, wherein the action axes can be direction axes or rotating axes, therefore, the action equipment number of the action target data can be the axis number of the action equipment, the speed can be the moving speed on the direction axes or the rotating speed on the rotating axes, and the displacement can be the target displacement on the action axes.
And S3, the main control processor performs action planning based on the action target data to obtain action parameters.
In the step S3, the master control processor divides the motion process of the motion device into an acceleration stage, a uniform acceleration stage, an acceleration reduction stage, a uniform velocity stage, an acceleration and deceleration stage, a uniform deceleration stage, and a deceleration reduction stage in sequence based on the motion target data during the motion planning process. The acceleration of the action equipment in the acceleration stage is gradually increased, the acceleration of the action equipment in the uniform acceleration stage is kept stable, the acceleration of the action equipment in the acceleration reduction stage is gradually decreased, the action speed of the action equipment in the uniform speed stage is kept stable, the acceleration of the action equipment in the acceleration and deceleration stage is a negative value and is gradually decreased, the acceleration of the action equipment in the uniform deceleration stage is a negative value and is kept stable, and the acceleration of the action equipment in the deceleration stage is a negative value and is gradually increased. Usually, the action device drives a pneumatic sucker, the pneumatic sucker is used for grabbing the wearing part, on the basis, the process of moving the wearing part by the action device can be divided into a plurality of parts, and the first part is that the wearing part is placed in the original P position by the pneumatic sucker0The position attracts the wearing part, and the wearing part is lifted upwards to P in the process1The second part is that the action device acts and drives the pneumatic sucker and the wearing part to move from P synchronously1Position moves up to P2The third part is that the action device drives the pneumatic sucker and the wearing part to be synchronously driven from P2Position translation to P3The fourth part is that the action equipment drives the pneumatic powerThe suction cup and the wearing part are synchronously driven from P3Position is lowered to P4In position, the fifth part is that the pneumatic suction cup releases the wearing part from P4Position falls to P5In position, the stability of the action process of the action equipment can be ensured by controlling the action process of the action equipment in a segmented manner so as to reduce vibration and avoid damaging vulnerable parts.
In S3, the method for calculating the acceleration at each stage is:
Figure BDA0003332806220000051
wherein a ismaxAt the maximum acceleration, nT is the duration of the acceleration stage, the deceleration stage, the acceleration stage and the deceleration stage, n is a correction coefficient, T0For the duration of the uniform acceleration and uniform deceleration phases, T1For the duration of the uniform speed stage, T is the duration of the whole action process of the action equipment, the specific values of the parameters can be flexibly set according to the actual requirements, and T is 4nT +2T0+T1。
In S3, the method for calculating the speed in each stage is:
Figure BDA0003332806220000061
in S3, the method for calculating the displacement at each stage is:
Figure BDA0003332806220000062
the acceleration calculation method, the speed calculation method and the displacement calculation method of each stage jointly form a speed planning algorithm.
And S4, the master control processor sends the action parameters to the slave control processor, and the slave control processor processes the action parameters and converts the action parameters into control signals. The control signals comprise pulse signals and direction signals, the output frequency of the pulse signals is used for realizing the speed control of the action shaft, and the number of the pulse signals is used for realizingAnd the displacement control of the action shaft and the direction signal are used for realizing the direction control of the action shaft. Four independent single-port RAM storage areas are arranged in the slave control processor and used for storing pulse signals, each single-port RAM storage area corresponds to one action shaft, each single-port RAM storage area can store 128 data with the width of 16 bits, one single-port RAM storage area is divided into four blocks, and RAM _ V1、RAM_V2、RAM_P1And RAM _ P2Wherein RAM _ V1And RAM _ V2For storing the output frequency of the pulse signal, RAM _ P1And RAM _ P2For storing the number of outputs of the pulse signal, RAM _ V1And RAM _ P1Is a first group, RAM _ V2And RAM _ P2And the slave control processor performs read-write operation on the single-port RAM storage area according to groups, and requests the master control processor to send data of another group of blocks by sending an interrupt signal to the master control processor when the slave control processor reads one group of blocks, so that cyclic read-write of the blocks is realized, and the stability of a control process is ensured.
And S5, the slave control processor outputs a control signal to the action equipment so as to drive the action equipment to act.
And S6, acquiring the action state data of the action equipment from the control processor in the action process of the action equipment.
And S7, the slave control processor judges whether the action equipment normally operates based on the action state data, if the action equipment normally operates, the action equipment continues to operate, and if the action equipment does not normally operate, the slave control processor alarms and ends the action.
S8, the slave control processor judges whether the action is finished, if not, the slave control processor continues to request the action parameter to the master control processor, namely, the slave control processor requests the master control processor to send the data of the block by sending an interrupt signal to the master control processor.
In order to verify the effects of the control device of the present invention, the following simulation test was performed.
Firstly, operating a speed planning algorithm through Matlab software, outputting operating parameters of each stage, and comparing the operating parameters with a speed planning algorithm curve after curve fitting, thereby verifying the stability of the control device. In the velocity planning algorithm, the displacements are written separately10000 pulse, 200pulse/ms for speed V, 25pulse/ms for acceleration a2The correction coefficient n is 0.125; displacement S1000 pulses, speed V100 pulses/ms, acceleration a 25 pulses/ms2And the correction coefficient n is 0.05, the finally obtained test result curve is shown in fig. 7, and the speed curve and the acceleration curve run continuously and stably according to the graph 7, so that the effect of stable running of pulses is realized by the speed planning algorithm, and the running stability of the action equipment is ensured.
And secondly, setting four paths of bench-to-ASDA-A2 servo simulation action equipment, wherein the pulse equivalent is 1000 pulse/mm. In the experimental process, the upper computer sends control parameters of each shaft, the control device controls the operation of the server, the bench-mark monitoring software obtains actual operation displacement, the difference between the actual operation displacement and the actual operation displacement is compared, and the experimental test result is shown in table 1.
Table 1 record table of actual operation condition of operating equipment
Figure BDA0003332806220000071
As can be seen from Table 1, the actual control error of the control device is within + -0.129 mm, which meets the requirement of the actual application error.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A multi-axis transferring equipment control device for a quick-wear part is characterized by comprising:
the main control processor is used for receiving the upper control instruction and processing the upper control instruction to analyze the action parameters;
and the slave control processor is used for receiving the action parameters, processing the action parameters to convert the action parameters into control signals and outputting the control signals to the action equipment.
2. The control device for the multi-axis transferring equipment of the wearing part as claimed in claim 1, wherein the main control processor obtains the upper control command from the upper computer through the ethernet module.
3. The control device for the multi-axis transferring equipment of a wearing part as claimed in claim 2, wherein the slave control processor outputs the control signal to the action equipment through the interface driving module.
4. The control device for the multi-axis transferring equipment of the wearing part as claimed in claim 3, wherein the interface driving module comprises:
a differential drive circuit for outputting a control signal to the action device;
a differential receiving circuit for acquiring a feedback signal from the action device;
and the optical coupling isolation circuit is used for finishing the mutual conversion of the control signal and the feedback signal.
5. A multi-axis transferring equipment control method for a consumable part, which is based on the multi-axis transferring equipment control device for the consumable part as claimed in claim 1, and is characterized by comprising the following steps:
s1, initializing the device and entering a preparation state;
s2, when the main control processor receives the upper control instruction, the upper control instruction is processed to analyze the action target data corresponding to the action equipment, and the action target data comprises the number, the speed and the displacement of the action equipment;
s3, the main control processor performs action planning based on the action target data to obtain action parameters;
s4, the master control processor sends the action parameters to the slave control processor, and the slave control processor processes the action parameters and converts the action parameters into control signals;
s5, the slave control processor outputs a control signal to the action equipment to drive the action equipment to act;
s6, acquiring action state data of the action equipment from the control processor in the action process of the action equipment;
s7, the slave control processor judges whether the action equipment operates normally or not based on the action state data, if the action equipment operates normally, the action equipment continues to operate, and if the action equipment does not operate normally, the slave control processor alarms and ends the action;
and S8, the slave control processor judges whether the action is finished or not, and if not, the slave control processor continuously requests the action parameters from the master control processor.
6. The method as claimed in claim 5, wherein in S3, the motion process of the motion equipment is divided into an acceleration stage, a deceleration stage, a constant speed stage, an acceleration and deceleration stage, a deceleration stage and a deceleration stage in sequence based on the motion target data during the motion planning process performed by the master control processor.
7. The method of claim 6, wherein in S3, the acceleration at each stage is calculated by:
Figure FDA0003332806210000021
wherein a ismaxAt the maximum acceleration, nT is the duration of the acceleration stage, the deceleration stage, the acceleration stage and the deceleration stage, n is a correction coefficient, T0For the duration of the uniform acceleration and uniform deceleration phases, T1And T is the duration of the uniform speed stage and the duration of the whole action process of the action equipment.
8. The method of claim 7, wherein in S3, the velocity of each stage is calculated by:
Figure FDA0003332806210000022
9. the method of claim 8, wherein in S3, the displacement of each stage is calculated by:
Figure FDA0003332806210000023
10. the method of claim 8, wherein T-4 nT +2T0+T1。
CN202111285534.XA 2021-11-02 2021-11-02 Control device and method for multi-shaft transferring equipment of quick-wear part Pending CN113885407A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111285534.XA CN113885407A (en) 2021-11-02 2021-11-02 Control device and method for multi-shaft transferring equipment of quick-wear part

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111285534.XA CN113885407A (en) 2021-11-02 2021-11-02 Control device and method for multi-shaft transferring equipment of quick-wear part

Publications (1)

Publication Number Publication Date
CN113885407A true CN113885407A (en) 2022-01-04

Family

ID=79015267

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111285534.XA Pending CN113885407A (en) 2021-11-02 2021-11-02 Control device and method for multi-shaft transferring equipment of quick-wear part

Country Status (1)

Country Link
CN (1) CN113885407A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114098783A (en) * 2022-01-28 2022-03-01 深圳市创谷科技发展有限公司 Beam limiter, X-ray machine and control method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114098783A (en) * 2022-01-28 2022-03-01 深圳市创谷科技发展有限公司 Beam limiter, X-ray machine and control method

Similar Documents

Publication Publication Date Title
JP5430793B2 (en) Electric motor control system and communication method
US7778814B2 (en) Method and device for simulating an automation system
CN103984275B (en) A kind of universal industrial kinetic control system based on FPGA and control method based on this kinetic control system
WO2020151406A1 (en) Motion control method, apparatus and system, and storage medium
WO2011120346A1 (en) General controller and control method for laser processing device
CN102545733A (en) Double-motor synchronous control device and method for silicon chip conveying manipulator
CN103269187A (en) Dual-motor synchronous control system and control method thereof
CN113885407A (en) Control device and method for multi-shaft transferring equipment of quick-wear part
CN109687772A (en) A kind of multi-axis synchronized control method and system
CN111381612B (en) Multi-axis synchronous control system and method based on CAN bus
CN110515358B (en) Control method of automatic production line parallel control system based on integrated controller
CN109361330A (en) A kind of servo motor synchronisation control means based on bus
CN109491332B (en) High-speed high-precision multi-axis parallel control system for electromechanical servo
EP4169672A1 (en) Multi-axis servo control system
CN203326934U (en) Double-motor synchronous control system
CN116009404B (en) Method, device, equipment and readable storage medium for debugging servo equipment
CN110442019A (en) Feedover method of servo-controlling, AC servo and readable storage medium storing program for executing
CN112511043B (en) Synchronous control system and method based on repeated motion multi-axis control
CN108170102B (en) Motion control system
TWI834071B (en) Multi-axis servo control system
CN205581578U (en) Digit steering engine control ware based on STM32 and FPGA
CN203287744U (en) Silicon slice transmission manipulator controller for lithography machine
JP6838672B2 (en) Actuator control system, sensor device, control device, actuator control method, information processing program, and recording medium
CN115107023B (en) Double-arm independent control method of vacuum double-arm robot
CN213499219U (en) Robot control system for SLAM and navigation field

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