CN114310977A - Demonstrator for polishing robot and manual control method thereof - Google Patents
Demonstrator for polishing robot and manual control method thereof Download PDFInfo
- Publication number
- CN114310977A CN114310977A CN202111677688.3A CN202111677688A CN114310977A CN 114310977 A CN114310977 A CN 114310977A CN 202111677688 A CN202111677688 A CN 202111677688A CN 114310977 A CN114310977 A CN 114310977A
- Authority
- CN
- China
- Prior art keywords
- shaft
- axis
- servo motor
- motion
- robot
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005498 polishing Methods 0.000 title abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 6
- 240000004371 Panax ginseng Species 0.000 claims description 18
- 235000002789 Panax ginseng Nutrition 0.000 claims description 18
- 235000008434 ginseng Nutrition 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000005266 casting Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Abstract
The invention provides a demonstrator for a polishing robot and a manual control method thereof, comprising the following steps: s1, firstly, connecting the demonstrator with the motion controller of the robot through a communication line; s2, converting the pulse signal generated by the pulse generator into the pulse generator rotation position count value P recognized by the motion controller through the pulse counting module of the motion controllerPulse(ii) a S3, creating a virtual motor shaft, and the position value P of the virtual motor shaftDeficiency of QiUsing count P of the rotational position of the pulse generatorPulseRepresenting a position value P of a virtual motor shaftDeficiency of Qi. The invention has the beneficial effects that: a demonstrator for a polishing robot and a manual control method thereof prevent misoperation of the robot caused by misoperation of an operator and protect safety of personnel and equipment by controlling execution speed multiplying factor of a control system and a signal enabling button.
Description
Technical Field
The invention belongs to the field of mechanical control, and particularly relates to a demonstrator for a polishing robot and a manual control method thereof.
Background
Because the difference between the design model of the casting and the actual size is large due to the current production process of the casting, a machining program based on the design model is generated through software, and the grinding robot can hardly be used. Most sanding robots obtain machining programs by teaching pick points for actual castings. Fine tuning of the machining program is also required to obtain an acceptable machined casting. The conventional robot demonstrator is difficult to accurately control the robot end, and is complex to operate, resulting in low programming efficiency.
Disclosure of Invention
In view of this, the present invention aims to provide a demonstrator for a polishing robot and a manual control method thereof, which designs a novel demonstrator and develops a corresponding manual control method to realize accurate control of a robot end, reduce operation difficulty, and improve programming efficiency.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, the present invention discloses a manual control method for a demonstrator of a polishing robot, comprising the following steps:
s1, firstly, connecting the demonstrator with the motion controller of the robot through a communication line;
s2, converting the pulse signal generated by the pulse generator into the pulse generator rotation position count value P recognized by the motion controller through the pulse counting module of the motion controllerPulse；
S3, creating a virtual motor shaft, and the position value P of the virtual motor shaftDeficiency of QiUsing count P of the rotational position of the pulse generatorPulseRepresenting a position value P of a virtual motor shaftDeficiency of Qi；
S4, selecting the axis to be controlled by the axis selection knob on the demonstrator, and calculating the current position value CT of the servo motor according to the axisIs justCalculating the angle value J of the mechanical arm of the joint at the current positionIs justAnd the end pose P of the currently selected axis1；
S5, obtaining the end pose P of the current selected axis obtained in the step S41To obtain a new pose P under the selected motion precision2；
S6, calculating the position of the servo motor under the selected motion precisionCTInverse direction；
S7, solving an electronic gear ratio delta CT under the selected motion precision;
and S8, realizing the following movement by utilizing the electronic gear function.
Further, in step S3, the position value P of the virtual motor shaft when the pulser is rotatedDeficiency of QiWith PPulseThe running speed of the virtual motor shaft is determined by the rotation speed of the pulse generator.
Further, in step S4, the angle value J of the joint at the current position is calculated according to the following formulaIs just：
JIs just＝DGinseng radix (Panax ginseng C.A. Meyer)+(CTIs just-CTGinseng radix (Panax ginseng C.A. Meyer))*RIs provided with
Wherein:
Dginseng radix (Panax ginseng C.A. Meyer)Is a reference angle for the selected axis in radians;
CTis justThe actual position of the servo motor corresponding to the selected shaft is expressed in ct;
CTginseng radix (Panax ginseng C.A. Meyer)The reference position of the servo motor corresponding to the selected shaft is given by ct;
Ris provided withSelecting the final reduction ratio of the servo motor corresponding to the shaft;
using the angle value JIs justCalculating the terminal pose P of the current selected axis by combining the positive kinematic solution of the robot1。
Further, in step S5, a new pose P with motion accuracy is selected2Calculated by the following formula:
P2＝P1+SP
wherein:
P1the end pose of the currently selected axis;
SP is the motion precision value selected by the operator through the motion precision selection knob.
Further, in step S6:
first, the new pose P calculated in step S5 is used2Calculating a joint angle value J under the selected motion precision by combining the inverse kinematics solution of the robotInverse direction；
Secondly, the calculated joint angle value J is usedInverse directionCalculating the new position value CT of the servo motor under the selected motion precision according to the following calculation formulaInverse direction：
Wherein:
Jinverse directionThe joint angle value under the selected motion precision is expressed in radian;
Dginseng radix (Panax ginseng C.A. Meyer)Is a reference angle for the selected axis in radians;
Ris provided withSelecting the final reduction ratio of the servo motor corresponding to the shaft;
CTginseng radix (Panax ginseng C.A. Meyer)And selecting the reference position of the servo motor corresponding to the shaft, wherein the unit is ct.
Further, in step S7, the electronic gear ratio Δ CT at the selected motion accuracy is calculated according to the following calculation formula:
ΔCT＝CTinverse direction-CTIs just
Wherein:
CTinverse directionCalculating a position value for the servo motor under the selected motion precision;
CTis justThe current position value of the servo motor.
Further, in step S8, a related control program is written, and a master-slave follow-up motion with an electronic gear ratio Δ CT between a virtual motor shaft and a servo motor corresponding to a selected shaft is realized by using an electronic gear function, where the virtual motor shaft is a main shaft, the servo motor corresponding to the selected shaft is a slave shaft, and the operation of the selected shaft is precisely controlled by a rotary pulse generator, and the speed of the rotary pulse generator determines the operation speed of the selected shaft.
The technical scheme discloses a demonstrator for a polishing robot, and the manual control method of the demonstrator for the polishing robot based on the first aspect comprises a signal enabling unit, an axis selecting unit and a motion precision selecting unit;
the signal enabling unit comprises a signal enabling button and is used for preventing misoperation and protecting safety of personnel and equipment;
the axis selection unit comprises an axis selection button, and a certain axis is selected through the axis selection button to be manually controlled;
the motion precision selection unit comprises a motion precision selection knob used for controlling the motion precision of the shaft, and the motion precision selection unit comprises a plurality of precision gears.
Compared with the prior art, the demonstrator for the polishing robot and the manual control method thereof have the following beneficial effects:
(1) according to the demonstrator for the polishing robot and the manual control method thereof, the manual accurate control of the tail end of the robot is realized by hardware such as the axis selection knob, the motion magnification selection knob, the pulse generator and the like and software such as the forward and reverse kinematics algorithm of the robot, the virtual motor axis function, the electronic gear function and the like, so that the actual requirement for teaching and quick programming is met, the operation difficulty is reduced, and the programming efficiency is improved;
(2) according to the demonstrator for the polishing robot and the manual control method thereof, disclosed by the invention, the misoperation of the robot caused by misoperation of an operator is prevented through the execution speed multiplying factor control and the signal enable button of the control system, and the safety of personnel and equipment is protected.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a general schematic diagram of a teach pendant structure according to an embodiment of the present invention;
FIG. 2 is a partial schematic view of a teach pendant structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a circuit of a signal enable button, an axis select button, and a motion accuracy select button according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a power indicator and emergency stop button circuit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a touch screen circuit according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a circuit of a pulse generator according to an embodiment of the present invention.
Description of reference numerals:
1-a communication line; 2-a touch screen; 3-power indicator light; 4-emergency stop button; 5-signal enable button; 6-a pulse generator; 7-axis selection knob; 8-motion accuracy selection knob.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 2, which are schematic structural diagrams of the demonstrator in the present solution, the components and functions thereof in the drawings are as follows:
power indicator lamp 3: displaying whether the power supply of the demonstrator is normal or not, wherein the green is normal;
the touch screen 2: running upper computer software of the robot to provide a human-computer interaction function;
communication line 1: the communication function with the motion controller is realized;
emergency stop button 4: when the robot is abnormal, the button is pressed, and the whole equipment stops running;
signal enable button 5: the button controls the shaft selection knob and the motion precision selection knob to output signals, and the shaft selection knob and the motion precision selection signal can be output only after the button is pressed, so that misoperation is prevented, and the safety of personnel and equipment is protected;
shaft selection knob 7: selecting a certain axis for manual control;
movement accuracy selection knob 8: the motion precision of the control shaft has three gears: x 1, x 10, x 100, wherein:
x 1: when the pulse generator rotates by one small grid, the shaft moves by 0.001 mm;
x 10: when the pulse generator rotates by one small grid, the shaft moves by 0.01 mm;
x 100: when the pulse generator rotates by one small grid, the shaft moves by 0.1 mm;
the pulse generator 6: the movement of the shaft is controlled, and the shaft moves for a certain distance every time the shaft rotates a small grid. The speed at which it rotates may control the speed at which the shaft moves.
The internal circuit schematic diagram of the above-mentioned components is shown in fig. 3 to 6;
the principle and method for realizing the manual control in the scheme are as follows: according to the method, through hardware such as a shaft selection knob, a motion magnification selection knob, a pulse generator and the like, software such as a robot forward and backward kinematics algorithm, a virtual motor shaft function, an electronic gear function and the like is utilized to realize manual accurate control of the tail end of the robot, so that the actual teaching fast programming requirement is met, the operation difficulty is reduced, and the programming efficiency is improved. In addition, the misoperation of the robot caused by misoperation of an operator is prevented by controlling the execution speed multiplying factor of the control system and the signal enabling button, and the safety of personnel and equipment is protected.
The specific implementation method comprises the following steps:
because an operator needs to operate the robot to perform teaching programming, all servo motors are in an enabling state in the teaching programming process, no gear separation measure exists between the operator and the robot, and the distance between the operator and the robot is extremely short, so that safe and reliable safety measures are required.
The method adds a signal enabling button on hardware, and the button controls whether a shaft selection knob and a motion precision selection knob output signals or not. Only after the button is pressed, the 'shaft selection' knob and 'movement precision selection' signals can be output, misoperation is prevented, and safety of personnel and equipment is protected.
According to the method, the execution speed multiplying factor of the system is set to be zero through a related control program on software, and even if an operator generates misoperation, the robot cannot move due to the fact that the execution speed multiplying factor is zero, so that misoperation is not generated, and the safety of personnel is ensured.
Pulse generationVirtualizing the device: firstly, a pulse counting module in a control system converts a pulse signal generated by a pulse generator into a counting value P which can identify the rotating position of the pulse generator by the systemPulse. Secondly, a virtual motor shaft is created by using the related program, and the position value P of the virtual motor shaftDeficiency of QiFrom the count P of the pulse generator rotational positionPulseAnd (4) showing. I.e. the position value P of the virtual motor shaft when rotating the pulse generatorDeficiency of QiWill vary. The running speed of the virtual motor shaft is determined by the rotation speed of the pulse generator.
Solving the current pose P of the control shaft1: firstly, according to the position value CT of the servo motor corresponding to the control shaft selected by the shaft selection knobIs justCalculating the angle value J of the joint at the current position according to the following formulaIs just，
JIs just＝DGinseng radix (Panax ginseng C.A. Meyer)+(CTIs just-CTGinseng radix (Panax ginseng C.A. Meyer))*RIs provided with
Wherein:
Dginseng radix (Panax ginseng C.A. Meyer)For selecting a reference angle of the shaft, in radians
CTIs justFor selecting the actual position of the servo motor corresponding to the axis, the unit is ct
CTGinseng radix (Panax ginseng C.A. Meyer)For selecting the reference position of the servo motor corresponding to the axis, the unit is ct
RIs provided withFinal reduction ratio of servo motor for selected shaft
Secondly, the angle value J is utilizedIs justCalculating the terminal pose P of the current selected axis through the positive kinematic solution of the robot1(the positive kinematics calculation methods of robots with different mechanical structures are different and cannot be expressed by formulas).
Solving the new pose P under the selected motion precision2: selecting a new pose P at motion accuracy2Calculated by the following formula:
P2＝P1+SP
wherein: p1End pose for currently selected axis
SP is the motion precision value (one of three values of 0.001mm, 0.01mm and 0.1 mm) selected by the operator through the motion precision selection knob.
Position CT of servo motor under selected motion precisionInverse direction: first using the calculated new pose P2Calculating a joint angle value J under the selected motion precision through an inverse kinematics solution of the robotInverse direction(the inverse kinematics solution algorithms of robots with different mechanical structures are different and cannot be expressed by formulas).
Secondly, the calculated joint angle value J is passedInverse directionCalculating the new position value CT of the servo motor under the selected motion precision according to the following calculation formulaInverse direction。
Wherein:
Jinverse directionIs a value of the joint angle in radians at a selected motion accuracy
DGinseng radix (Panax ginseng C.A. Meyer)For selecting a reference angle of the shaft, in radians
RIs provided withFinal reduction ratio of servo motor for selected shaft
CTGinseng radix (Panax ginseng C.A. Meyer)For selecting the reference position of the servo motor corresponding to the axis, the unit is ct
And (3) solving an electronic gear ratio delta CT under the selected motion precision: calculating the electronic gear ratio delta CT at the selected motion accuracy according to the following calculation formula
ΔCT＝CTInverse direction-CTIs just
Wherein:
CTinverse directionPosition values calculated for servo motors at selected motion accuracies
CTIs justFor the current position value of the servo motor
G. Following movement realized by utilizing electronic gear function
Writing a related control program, and realizing the master-slave follow-up motion with the electronic gear ratio of a virtual motor shaft to a servo motor corresponding to a selected shaft being delta CT by utilizing the electronic gear function, wherein the virtual motor shaft is a main shaft, the servo motor corresponding to the selected shaft is a slave shaft, so that the function of accurately controlling the operation of the selected shaft by rotating a pulse generator is realized, and the speed of the rotating pulse generator determines the operation speed of the selected shaft.
Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed method and system may be implemented in other ways. For example, the above described division of elements is merely a logical division, and other divisions may be realized, for example, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not executed. The units may or may not be physically separate, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A manual control method for a teach pendant of a grinding robot, comprising the steps of:
s1, firstly, connecting the demonstrator with the motion controller of the robot through a communication line;
s2, converting the pulse signal generated by the pulse generator into the pulse generator rotation position count value P recognized by the motion controller through the pulse counting module of the motion controllerPulse；
S3, creating a virtual motor shaft, and the position value P of the virtual motor shaftDeficiency of QiUsing count P of the rotational position of the pulse generatorPulseRepresenting a position value P of a virtual motor shaftDeficiency of Qi；
S4, selecting the axis to be controlled by the axis selection knob on the demonstrator, and calculating the current position value CT of the servo motor according to the axisIs justCalculating the angle value J of the mechanical arm of the joint at the current positionIs justAnd the end pose P of the currently selected axis1；
S5, obtaining the end pose P of the current selected axis obtained in the step S41To obtain a new pose P under the selected motion precision2；
S6, calculating the position CT of the servo motor under the selected motion precisionInverse direction；
S7, solving an electronic gear ratio delta CT under the selected motion precision;
and S8, realizing the following movement by utilizing the electronic gear function.
2. The manual control method of a teach pendant for a grinding robot according to claim 1, wherein: in step S3, the virtual motor shaft is rotated while the pulser is rotatedPosition value P ofDeficiency of QiWith PPulseThe running speed of the virtual motor shaft is determined by the rotation speed of the pulse generator.
3. The manual control method of a teach pendant for a grinding robot as claimed in claim 1, wherein the angle value J of the joint at the current position is calculated according to the following formula at step S4Is just：
JIs just＝DGinseng radix (Panax ginseng C.A. Meyer)+(CTIs just-CTGinseng radix (Panax ginseng C.A. Meyer))*RIs provided with
Wherein:
Dginseng radix (Panax ginseng C.A. Meyer)Is a reference angle for the selected axis in radians;
CTis justThe actual position of the servo motor corresponding to the selected shaft is expressed in ct;
CTginseng radix (Panax ginseng C.A. Meyer)The reference position of the servo motor corresponding to the selected shaft is given by ct;
Ris provided withSelecting the final reduction ratio of the servo motor corresponding to the shaft;
using the angle value JIs justCalculating the terminal pose P of the current selected axis by combining the positive kinematic solution of the robot1。
4. The manual control method of the teach pendant for a grinding robot according to claim 1, wherein in step S5, the new pose P with the motion accuracy is selected2Calculated by the following formula:
P2＝P1+SP
wherein:
P1the end pose of the currently selected axis;
SP is the motion precision value selected by the operator through the motion precision selection knob.
5. The manual control method of a teach pendant for a grinding robot according to claim 1, wherein in step S6:
first, the new pose P calculated in step S5 is used2Calculating a joint angle value J under the selected motion precision by combining the inverse kinematics solution of the robotInverse direction；
Secondly, the calculated joint angle value J is usedInverse directionCalculating the new position value CT of the servo motor under the selected motion precision according to the following calculation formulaInverse direction：
Wherein:
Jinverse directionThe joint angle value under the selected motion precision is expressed in radian;
Dginseng radix (Panax ginseng C.A. Meyer)Is a reference angle for the selected axis in radians;
Ris provided withSelecting the final reduction ratio of the servo motor corresponding to the shaft;
CTginseng radix (Panax ginseng C.A. Meyer)And selecting the reference position of the servo motor corresponding to the shaft, wherein the unit is ct.
6. The manual control method of a teach pendant for a grinding robot according to claim 1, wherein in step S7, the electronic gear ratio Δ CT at a selected motion accuracy is calculated according to the following calculation formula:
ΔCT＝CTinverse direction-CTIs just
Wherein:
CTinverse directionCalculating a position value for the servo motor under the selected motion precision;
CTis justThe current position value of the servo motor.
7. The manual control method of a teach pendant for a grinding robot as claimed in claim 1, wherein in step S8, a related control program is programmed to implement a master-slave follow-up motion with an electronic gear ratio Δ CT of a virtual motor shaft and a servo motor corresponding to a selected shaft by using an electronic gear function, wherein the virtual motor shaft is a master shaft and the servo motor corresponding to the selected shaft is a slave shaft, the operation of the selected shaft is precisely controlled by a rotation pulse generator, and the speed of the rotation pulse generator determines the operation speed of the selected shaft.
8. A teach pendant for a grinding robot based on the manual control method of the teach pendant for a grinding robot of any of claims 1 to 7, characterized by comprising a signal enabling unit, an axis selecting unit, a motion accuracy selecting unit;
the signal enabling unit comprises a signal enabling button and is used for preventing misoperation and protecting safety of personnel and equipment;
the axis selection unit comprises an axis selection button, and a certain axis is selected through the axis selection button to be manually controlled;
the motion precision selection unit comprises a motion precision selection knob used for controlling the motion precision of the shaft, and the motion precision selection unit comprises a plurality of precision gears.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111677688.3A CN114310977B (en) | 2021-12-31 | Demonstrator for polishing robot and manual control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111677688.3A CN114310977B (en) | 2021-12-31 | Demonstrator for polishing robot and manual control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114310977A true CN114310977A (en) | 2022-04-12 |
| CN114310977B CN114310977B (en) | 2024-05-10 |
Family
ID=
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050283275A1 (en) * | 2004-06-17 | 2005-12-22 | Kabushiki Kaisha Koyama | Method of teaching articulated robot and control equipment of articulated robot |
| CN207636954U (en) * | 2017-12-22 | 2018-07-20 | 广东光宝自控科技有限公司 | A kind of hand-held teaching machine shell of multi-axis motion controller |
| CN108512472A (en) * | 2018-05-11 | 2018-09-07 | 重庆谱思机器人控制系统有限公司 | A kind of follow-up control method and its system based on electronic gear |
| CN110815189A (en) * | 2019-11-20 | 2020-02-21 | 福州大学 | Robot rapid teaching system and method based on mixed reality |
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050283275A1 (en) * | 2004-06-17 | 2005-12-22 | Kabushiki Kaisha Koyama | Method of teaching articulated robot and control equipment of articulated robot |
| CN207636954U (en) * | 2017-12-22 | 2018-07-20 | 广东光宝自控科技有限公司 | A kind of hand-held teaching machine shell of multi-axis motion controller |
| CN108512472A (en) * | 2018-05-11 | 2018-09-07 | 重庆谱思机器人控制系统有限公司 | A kind of follow-up control method and its system based on electronic gear |
| CN110815189A (en) * | 2019-11-20 | 2020-02-21 | 福州大学 | Robot rapid teaching system and method based on mixed reality |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110666802A (en) | Industrial robot platform with dual-core motion controller | |
| US20140195054A1 (en) | Robot system, robot control device and method for controlling robot | |
| CN102243486B (en) | Numerical controller for multi-axis machine tool | |
| WO1986006183A1 (en) | Method and apparatus for performing work in a three dimensional space | |
| CN203992545U (en) | Impeller | |
| CN109571481A (en) | A kind of joint singular point processing method, device, equipment and storage medium | |
| CN105033996A (en) | Control system based on hand-push teaching type five-shaft horizontal joint robot | |
| CN105242638A (en) | Blade five-axis machining programming processing method and device | |
| US10126732B2 (en) | Device for controlling machine tool | |
| WO1982001426A1 (en) | Numerical control system | |
| CN111816039A (en) | Electromechanical transmission control system and control method | |
| CN114310977A (en) | Demonstrator for polishing robot and manual control method thereof | |
| CN114310977B (en) | Demonstrator for polishing robot and manual control method thereof | |
| CN104874893A (en) | Groove cutting machine based on ZYNQ7000 SOC and control system thereof | |
| CN105446166A (en) | Machine tool simulation instrument for numerical control system | |
| Ali et al. | Controlling the cnc machine using microcontroller to manufacture pcb | |
| CN108334041A (en) | Control device | |
| CN106017535B (en) | A kind of motor-driven valve position sensor caliberating device and method | |
| CN207586731U (en) | A kind of aspherical optical element grinding attachment | |
| CN210038531U (en) | PMAC-based high-precision six-axis scanning frame controller | |
| JP2009538744A (en) | Method for controlling turning and NC machine suitable for turning | |
| CN206948228U (en) | The PLC electric-control systems of Three Degree Of Freedom asynchronous machine motion platform | |
| CN205342328U (en) | Joint robot's motion control system | |
| CN111191184A (en) | Solution algorithm for Euler angle in 3+2 dead axle processing | |
| Guo | Multi-degree-of-freedom robot arm motion simulation based on MATLAB |
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 | ||
| GR01 | Patent grant |