CN116638511A - Method for improving labor efficiency of production line robot based on machine tool refueling time model - Google Patents
Method for improving labor efficiency of production line robot based on machine tool refueling time model Download PDFInfo
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- CN116638511A CN116638511A CN202310603357.8A CN202310603357A CN116638511A CN 116638511 A CN116638511 A CN 116638511A CN 202310603357 A CN202310603357 A CN 202310603357A CN 116638511 A CN116638511 A CN 116638511A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000000463 material Substances 0.000 claims abstract description 52
- 238000012545 processing Methods 0.000 claims abstract description 47
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 238000003754 machining Methods 0.000 claims description 33
- 238000004088 simulation Methods 0.000 claims description 13
- 238000007781 pre-processing Methods 0.000 claims description 12
- 238000007418 data mining Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 5
- 238000012163 sequencing technique Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a method for improving the working efficiency of a production line robot based on a machine tool refueling time model, which comprises the following steps: acquiring parameter information, external information and position information of all machine tools in an automatic production line; constructing a refueling time model of each machine tool according to the parameter information and the position information of the machine tool; analyzing the processing program files of all parts, monitoring the current processing process in real time and predicting the residual processing time in real time; according to the residual processing time of the part and the reloading time model, real-time comparison is carried out, and whether the residual processing time of the part is larger than the reloading time of the machine tool is judged; if so, the line robot executes other tasks; if not, the material changing task of the part is sent to a production line robot task queue for execution. According to the invention, the production line robot is optimally scheduled according to the task category rule, so that the processing efficiency of the production line robot is greatly improved.
Description
Technical Field
The invention belongs to the field of automatic machining of production line robots, and particularly relates to a method for improving the efficiency of production line robots based on a machine tool refueling time model.
Background
In the multi-variety small-batch manufacturing industry, because the variety of the parts is frequently replaced, the process procedures of the parts are more, the machining procedures of the machine tool are frequently switched along with the change of the parts in the machining process, and meanwhile, the same part often needs to be machined in a plurality of working procedures on a plurality of different types of machine tools. Because of the characteristics, the processing time of each part is different in the automatic production process, so that the production line robot can only receive the material changing information to carry out the material changing task after the part processing is completed, and the material changing time of different types of equipment is inconsistent, so that the waiting time of a machine tool in the material changing process of the production line robot is longer, and the processing efficiency of an automatic line and the utilization rate of the machine tool are greatly reduced.
Disclosure of Invention
The invention aims to provide a method for improving the working efficiency of a production line robot based on a machine tool material changing time model, which is used for carrying out optimal scheduling on the production line robot according to task class rules, so that the working efficiency of the production line robot is greatly improved.
In order to solve the technical problems, the technical scheme of the invention is as follows: a method for improving the working efficiency of a production line robot based on a machine tool refueling time model comprises the following steps:
acquiring parameter information, external information and position information of all machine tools in an automatic production line;
constructing a refueling time model of each machine tool according to the type information, the working parameter information and the physical position information of the machine tool;
analyzing the processing program files of all parts, monitoring the current processing process in real time and predicting the residual processing time in real time;
according to the residual processing time of the part and the reloading time model, real-time comparison is carried out, and whether the residual processing time of the part is larger than the reloading time of the machine tool is judged; if so, the line robot executes other tasks; if not, the material changing task of the part is sent to a production line robot task queue for execution.
The construction method of the refueling time model of the machine tool comprises the following steps: (1) Collecting motion parameter data of all machine tools, including machine tool spindle zeroing time, automatic door or oil groove opening and closing time, workbench moving time, oil discharging time and oil groove lifting time, and preprocessing the motion parameter data to obtain spindle zeroing time of each type of machine tool; the preprocessing comprises the steps of carrying out data redundancy processing on the motion parameter data of the machine tool when the same part type is processed, filtering repeated sample data, and classifying and merging the filtered data according to the motion type of the machine tool; (2) Calculating the motion trail and time of the line robot for carrying out the material changing task on each type of machine tool from different origins according to the physical position of each machine tool in the production line, and obtaining the material changing time of each line robot at different positions after data mining; (3) And establishing a mapping set of the spindle zeroing time of different types of machine tools and the material changing time of the production line robots at different positions, clustering according to the types of the machine tools, and finally obtaining the material changing time models of all the machine tools in the production line.
The machine tool refueling time model comprises the following execution steps: and calculating the running distance of the production line robot by calculating the position information of the machine tool and the current position of the production line robot, and calculating the part time to be reloaded of the production line robot according to the speed of carrying parts with different weights by the production line robot.
The executing step of the machine tool refueling time model further comprises the following steps: when the parts are required to be turned, the clamping turning time of the production line robot and the replacement time of the parts and the electrodes are considered.
The specific steps of predicting and obtaining the residual processing time are as follows: and carrying out simulation treatment on the machining process of the part according to the geometric model and the machining program of the part, monitoring the machining process in real time, dynamically comparing the machining process with the simulation process, and predicting the residual machining time of the part.
When the line robot receives a material changing task of a part, firstly adding the material changing task into a current task queue, traversing the current task queue, sequencing all tasks according to task types and scheduling rules, and enabling the material changing task of a machine tool to be higher in priority than a scanning task and other types of tasks; and if a plurality of refueling tasks exist, preferentially executing the refueling tasks which obtain the minimum refueling time according to the refueling time model.
The system for improving the labor efficiency of the production line robot based on the machine tool refueling time model comprises a main controller and a production line robot which are connected in a wireless mode, wherein the production line robot works on an automatic production line with a machine tool; wherein, the liquid crystal display device comprises a liquid crystal display device,
the main controller is used for acquiring parameter information, external information and position information of all machine tools in the automatic production line through the production line robot;
the main controller constructs a material changing time model of each machine tool according to the type information, the working parameter information and the physical position information of the machine tool;
the main controller analyzes the processing program files of all parts, monitors the current processing process in real time and predicts the residual processing time in real time;
the main controller compares the residual processing time of the part with a reloading time model in real time, and judges whether the residual processing time of the part is greater than the reloading time of the machine tool; if yes, controlling the line robot to execute other tasks; if not, the material changing task of the part is sent to a production line robot task queue for execution.
The construction method of the refueling time model of the machine tool comprises the following steps: (1) Collecting motion parameter data of all machine tools, including machine tool spindle zeroing time, automatic door or oil groove opening and closing time, workbench moving time, oil discharging time and oil groove lifting time, and preprocessing the motion parameter data to obtain spindle zeroing time of each type of machine tool; the preprocessing comprises the steps of carrying out data redundancy processing on the motion parameter data of the machine tool when the same part type is processed, filtering repeated sample data, and classifying and merging the filtered data according to the motion type of the machine tool; (2) Calculating the motion trail and time of the line robot for carrying out the material changing task on each type of machine tool from different origins according to the physical position of each machine tool in the production line, and obtaining the material changing time of each line robot at different positions after data mining; (3) And establishing a mapping set of the spindle zeroing time of different types of machine tools and the material changing time of the production line robots at different positions, clustering according to the types of the machine tools, and finally obtaining the material changing time models of all the machine tools in the production line.
The machine tool refueling time model comprises the following execution steps: calculating the running distance of the line robot by calculating the position information of the machine tool and the current position of the line robot, and calculating the part time to be reloaded of the line robot according to the speed of carrying parts with different weights by the line robot; when the parts are required to be turned, the clamping turning time of the production line robot and the replacement time of the parts and the electrodes are considered.
The specific steps of predicting and obtaining the residual processing time are as follows: and carrying out simulation treatment on the machining process of the part according to the geometric model and the machining program of the part, monitoring the machining process in real time, dynamically comparing the machining process with the simulation process, and predicting the residual machining time of the part.
When the line robot receives a material changing task of a part, firstly adding the material changing task into a current task queue, traversing the current task queue, sequencing all tasks according to task types and scheduling rules, and enabling the material changing task of a machine tool to be higher in priority than a scanning task and other types of tasks; and if a plurality of refueling tasks exist, preferentially executing the refueling tasks which obtain the minimum refueling time according to the refueling time model.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the residual processing time of the part is predicted, the material changing task is generated in advance, and the optimal scheduling is carried out on the production line robot according to the task category rule, so that the processing efficiency of the production line robot is greatly improved.
Drawings
Fig. 1 is a schematic flow chart of an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In order to solve the problem of the processing efficiency of flexible automatic wire bodies of various different types of equipment in the multi-variety and small-batch industry, a method for improving the working efficiency of a robot based on a machine tool refueling time model is provided. Firstly, a refueling time model of each machine tool in an automation line is built by acquiring parameter information and position information of all machine tools in the automation line. In the actual machining stage, the machining completion event of the part is accurately predicted in advance and a refueling task is generated in advance by analyzing all part machining programs and machining simulation files and monitoring the execution progress of the current program in real time and comparing the residual machining time of the part with a refueling time model in real time, and the robot is optimally scheduled according to task class rules, so that the machining efficiency of the industrial robot is greatly improved.
Example 1:
the technical scheme of the invention is as follows: a method for improving the working efficiency of a production line robot based on a machine tool refueling time model comprises the following steps:
acquiring parameter information, external information and position information of all machine tools in an automatic production line;
constructing a refueling time model of each machine tool according to the type information, the working parameter information and the physical position information of the machine tool;
analyzing the processing program files of all parts, monitoring the current processing process in real time and predicting the residual processing time in real time;
according to the residual processing time of the part and the reloading time model, real-time comparison is carried out, and whether the residual processing time of the part is larger than the reloading time of the machine tool is judged; if so, the line robot executes other tasks; if not, the material changing task of the part is sent to a production line robot task queue for execution.
The system automatically acquires the parameter information of all the machine tools in the line, the machine tool type, the spindle zero-setting time, the automatic door/oil groove opening and closing time and the like, and simultaneously acquires the position information of all the machine tools in the line.
The construction method of the refueling time model of the machine tool comprises the following steps: (1) Collecting motion parameter data of all machine tools, including machine tool spindle zeroing time, automatic door or oil groove opening and closing time, workbench moving time, oil discharging time and oil groove lifting time, and preprocessing the motion parameter data to obtain spindle zeroing time of each type of machine tool; the preprocessing comprises the steps of carrying out data redundancy processing on the motion parameter data of the machine tool when the same part type is processed, filtering repeated sample data, and classifying and merging the filtered data according to the motion type of the machine tool; (2) Calculating the motion trail and time of the line robot for carrying out the material changing task on each type of machine tool from different origins according to the physical position of each machine tool in the production line, and obtaining the material changing time of each line robot at different positions after data mining; (3) And establishing a mapping set of the spindle zeroing time of different types of machine tools and the material changing time of the production line robots at different positions, clustering according to the types of the machine tools, and finally obtaining the material changing time models of all the machine tools in the production line.
The machine tool refueling time model comprises the following execution steps: and calculating the running distance of the production line robot by calculating the position information of the machine tool and the current position of the production line robot, and calculating the part time to be reloaded of the production line robot according to the speed of carrying parts with different weights by the production line robot.
The specific steps of predicting and obtaining the residual processing time are as follows: and carrying out simulation treatment on the machining process of the part according to the geometric model and the machining program of the part, monitoring the machining process in real time, dynamically comparing the machining process with the simulation process, and predicting the residual machining time of the part.
When the line robot receives a material changing task of a part, firstly adding the material changing task into a current task queue, traversing the current task queue, sequencing all tasks according to task types and scheduling rules, and enabling the material changing task of a machine tool to be higher in priority than a scanning task and other types of tasks; and if a plurality of refueling tasks exist, preferentially executing the refueling tasks which obtain the minimum refueling time according to the refueling time model.
Example 2:
in another embodiment, the subject method is consistent with example 1, with the addition of a machine tool change time model to determine what is considered the part to be turned, as follows:
the executing step of the machine tool refueling time model further comprises the following steps: when the parts are required to be turned, the clamping turning time of the production line robot and the replacement time of the parts and the electrodes are considered.
Example 3:
in still another embodiment, a system for improving the work efficiency of a production line robot based on a machine tool refueling time model is also provided, and the system comprises a main controller and a production line robot which are connected in a wireless manner, wherein the production line robot works on an automatic production line, and the automatic production line is provided with a machine tool; wherein, the liquid crystal display device comprises a liquid crystal display device,
the main controller is used for acquiring parameter information, external information and position information of all machine tools in the automatic production line through the production line robot;
the main controller constructs a material changing time model of each machine tool according to the type information, the working parameter information and the physical position information of the machine tool;
the main controller analyzes the processing program files of all parts, monitors the current processing process in real time and predicts the residual processing time in real time;
the main controller compares the residual processing time of the part with a reloading time model in real time, and judges whether the residual processing time of the part is greater than the reloading time of the machine tool; if yes, controlling the line robot to execute other tasks; if not, the material changing task of the part is sent to a production line robot task queue for execution.
The construction method of the refueling time model of the machine tool comprises the following steps: (1) Collecting motion parameter data of all machine tools, including machine tool spindle zeroing time, automatic door or oil groove opening and closing time, workbench moving time, oil discharging time and oil groove lifting time, and preprocessing the motion parameter data to obtain spindle zeroing time of each type of machine tool; the preprocessing comprises the steps of carrying out data redundancy processing on the motion parameter data of the machine tool when the same part type is processed, filtering repeated sample data, and classifying and merging the filtered data according to the motion type of the machine tool; (2) Calculating the motion trail and time of the line robot for carrying out the material changing task on each type of machine tool from different origins according to the physical position of each machine tool in the production line, and obtaining the material changing time of each line robot at different positions after data mining; (3) And establishing a mapping set of the spindle zeroing time of different types of machine tools and the material changing time of the production line robots at different positions, clustering according to the types of the machine tools, and finally obtaining the material changing time models of all the machine tools in the production line.
The machine tool refueling time model comprises the following execution steps: calculating the running distance of the line robot by calculating the position information of the machine tool and the current position of the line robot, and calculating the part time to be reloaded of the line robot according to the speed of carrying parts with different weights by the line robot; when the parts are required to be turned, the clamping turning time of the production line robot and the replacement time of the parts and the electrodes are considered.
The specific steps of predicting and obtaining the residual processing time are as follows: and carrying out simulation treatment on the machining process of the part according to the geometric model and the machining program of the part, monitoring the machining process in real time, dynamically comparing the machining process with the simulation process, and predicting the residual machining time of the part.
When the line robot receives a material changing task of a part, firstly adding the material changing task into a current task queue, traversing the current task queue, sequencing all tasks according to task types and scheduling rules, and enabling the material changing task of a machine tool to be higher in priority than a scanning task and other types of tasks; and if a plurality of refueling tasks exist, preferentially executing the refueling tasks which obtain the minimum refueling time according to the refueling time model.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The method for improving the labor efficiency of the production line robot based on the machine tool refueling time model is characterized by comprising the following steps of:
acquiring parameter information, external information and position information of all machine tools in an automatic production line;
constructing a refueling time model of each machine tool according to the type information, the working parameter information and the physical position information of the machine tool;
analyzing the processing program files of all parts, monitoring the current processing process in real time and predicting the residual processing time in real time;
according to the residual processing time of the part and the reloading time model, real-time comparison is carried out, and whether the residual processing time of the part is larger than the reloading time of the machine tool is judged; if so, the line robot executes other tasks; if not, the material changing task of the part is sent to a production line robot task queue for execution.
2. The method for improving labor efficiency of a production line robot based on a machine tool refueling time model according to claim 1, wherein the construction step of the machine tool refueling time model comprises the steps of: (1) Collecting motion parameter data of all machine tools, including machine tool spindle zeroing time, automatic door or oil groove opening and closing time, workbench moving time, oil discharging time and oil groove lifting time, and preprocessing the motion parameter data to obtain spindle zeroing time of each type of machine tool; the preprocessing comprises the steps of carrying out data redundancy processing on the motion parameter data of the machine tool when the same part type is processed, filtering repeated sample data, and classifying and merging the filtered data according to the motion type of the machine tool; (2) Calculating the motion trail and time of the line robot for carrying out the material changing task on each type of machine tool from different origins according to the physical position of each machine tool in the production line, and obtaining the material changing time of each line robot at different positions after data mining; (3) And establishing a mapping set of the spindle zeroing time of different types of machine tools and the material changing time of the production line robots at different positions, clustering according to the types of the machine tools, and finally obtaining the material changing time models of all the machine tools in the production line.
3. The method for improving the work efficiency of the production line robot based on the machine tool refueling time model according to claim 2, wherein the machine tool refueling time model is executed by the following steps: calculating the running distance of the line robot by calculating the position information of the machine tool and the current position of the line robot, and calculating the part time to be reloaded of the line robot according to the speed of carrying parts with different weights by the line robot; when the parts are required to be turned, the clamping turning time of the production line robot and the replacement time of the parts and the electrodes are considered.
4. The method for improving the work efficiency of a production line robot based on a machine tool refueling time model according to claim 1, wherein the specific steps of predicting the remaining processing time are as follows: and carrying out simulation treatment on the machining process of the part according to the geometric model and the machining program of the part, monitoring the machining process in real time, dynamically comparing the machining process with the simulation process, and predicting the residual machining time of the part.
5. The method for improving the work efficiency of the production line robot based on the machine tool refueling time model according to claim 1, wherein when the production line robot receives a part refueling task, the part refueling task is added to a current task queue firstly, meanwhile, the current task queue is traversed, all tasks are ordered according to task types and scheduling rules, and the machine tool refueling task has higher priority than a scanning task and other types of tasks; and if a plurality of refueling tasks exist, preferentially executing the refueling tasks which obtain the minimum refueling time according to the refueling time model.
6. A system for improving the efficiency of production line robot work by using the machine tool refueling time model according to claim 1, which is characterized by comprising a main controller and a production line robot which are connected in a wireless way, wherein the production line robot works in an automatic production line, and the automatic production line is provided with a machine tool; wherein, the liquid crystal display device comprises a liquid crystal display device,
the main controller is used for acquiring parameter information, external information and position information of all machine tools in the automatic production line through the production line robot;
the main controller constructs a material changing time model of each machine tool according to the type information, the working parameter information and the physical position information of the machine tool;
the main controller analyzes the processing program files of all parts, monitors the current processing process in real time and predicts the residual processing time in real time;
the main controller compares the residual processing time of the part with a reloading time model in real time, and judges whether the residual processing time of the part is greater than the reloading time of the machine tool; if yes, controlling the line robot to execute other tasks; if not, the material changing task of the part is sent to a production line robot task queue for execution.
7. The system of claim 6, wherein the step of constructing the time model for refueling of the machine tool comprises: (1) Collecting motion parameter data of all machine tools, including machine tool spindle zeroing time, automatic door or oil groove opening and closing time, workbench moving time, oil discharging time and oil groove lifting time, and preprocessing the motion parameter data to obtain spindle zeroing time of each type of machine tool; the preprocessing comprises the steps of carrying out data redundancy processing on the motion parameter data of the machine tool when the same part type is processed, filtering repeated sample data, and classifying and merging the filtered data according to the motion type of the machine tool; (2) Calculating the motion trail and time of the line robot for carrying out the material changing task on each type of machine tool from different origins according to the physical position of each machine tool in the production line, and obtaining the material changing time of each line robot at different positions after data mining; (3) And establishing a mapping set of the spindle zeroing time of different types of machine tools and the material changing time of the production line robots at different positions, clustering according to the types of the machine tools, and finally obtaining the material changing time models of all the machine tools in the production line.
8. The system according to claim 7, wherein the machine tool refueling time model is executed by: calculating the running distance of the line robot by calculating the position information of the machine tool and the current position of the line robot, and calculating the part time to be reloaded of the line robot according to the speed of carrying parts with different weights by the line robot; when the parts are required to be turned, the clamping turning time of the production line robot and the replacement time of the parts and the electrodes are considered.
9. The system of claim 6, wherein the specific step of predicting the remaining processing time is: and carrying out simulation treatment on the machining process of the part according to the geometric model and the machining program of the part, monitoring the machining process in real time, dynamically comparing the machining process with the simulation process, and predicting the residual machining time of the part.
10. The system of claim 6, wherein when the line robot receives a part refueling task, the line robot first adds the refueling task to a current task queue, traverses the current task queue, sorts all tasks according to task types and scheduling rules, and the machine tool refueling task has a higher priority than the scanning task and other types of tasks; and if a plurality of refueling tasks exist, preferentially executing the refueling tasks which obtain the minimum refueling time according to the refueling time model.
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| CN117465872A (en) * | 2023-12-28 | 2024-01-30 | 上海航天壹亘智能科技有限公司 | Movable stacking manipulator system and operation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117465872A (en) * | 2023-12-28 | 2024-01-30 | 上海航天壹亘智能科技有限公司 | Movable stacking manipulator system and operation method |
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