CN204584869U - The process equipment of curved surface part - Google Patents
The process equipment of curved surface part Download PDFInfo
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- CN204584869U CN204584869U CN201520216126.2U CN201520216126U CN204584869U CN 204584869 U CN204584869 U CN 204584869U CN 201520216126 U CN201520216126 U CN 201520216126U CN 204584869 U CN204584869 U CN 204584869U
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- pose
- robot
- curved surface
- surface part
- calibrating block
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Abstract
The process equipment of curved surface part of the present utility model comprises robot, pose calibrating block, three-dimensional scanner and host computer, before processing, first determines the vertex scheme vector of curved surface part, then is converted to pose coordinate theoretical value according to robot algorithm model; And before processing, demarcate the position relationship of pose calibrating block relative to the central point of process tool; Then, make robot move to machining area, with the normal vector of pose coordinate theoretical value adjustment process tool; Then, make three-dimensional scanner scan pose calibrating block, to draw the attained pose value of pose calibrating block, then draw attained pose error according to the difference between attained pose value and theoretical value; Then, compensated and corrected by the pose coordinate value that control unit is current according to the actuator of attained pose error to robot; Again then, robot just can be made to process machining area corresponding on machined surface; After complete, repeat above-mentioned steps, until the machining area on machined surface machines.
Description
Technical field
The utility model relates to the processing technique field of curved surface part, particularly relates to a kind of process equipment of large scale curved surface part.
Background technology
At present for the hole machined mode of large-sized curved surface part, be commonly and adopt CNC Drilling operation or manually hole, but, according to CNC Drilling operation, then there is the problem that lathe floor space is large, cost is high; According to artificial, then have that efficiency is low, the problem of low precision.In addition, also some of the staff are had to adopt processing of robots mode, but, there is the problem that position error is large, batch workpiece repetition machining accuracy is not high in current processing of robots mode, so that the coaxial precision of the drilling processing of curved surface part is poor, thus the curved surface part processed is made to occur being difficult to the problem of accurately assembling.
Therefore, be necessary to provide a kind of technological means to address the aforementioned drawbacks.
Utility model content
The purpose of this utility model is the defect overcoming prior art, the process equipment of curved surface part is provided, have that position error is large when processing of robots mode to solve in prior art, that batch workpiece does not repeat machining accuracy is high so that occur the problem that the coaxial precision of drilling processing of curved surface part is poor ensureing that curved surface part can accurately assemble.
The utility model is achieved in that the process equipment of curved surface part, and described curved surface part has at least one machined surface, and described machined surface is provided with the machine direction in order to process described machined surface, and described process equipment comprises:
First rest area of placing is stopped for described curved surface part;
Be close to the second rest area of described first rest area;
In order to the robot processed described curved surface part, the machine direction of machined surface described in described Robot moves to be located on described second rest area, and described robot comprises robot body and the control unit in order to control described robot body work, described robot body is equipped with the actuator performing Machining Instruction, described actuator comprises main shaft and is located at the process tool on described main shaft, and described control unit is configured with robot algorithm model;
Define the pose calibrating block of shift position relative to the pose deviation of theoretical pose value of described robot in order to mark, described pose calibrating block is located on described main shaft, and the center line of described pose calibrating block and the vertical and intersectant centerline of described main shaft;
For scanning the three dimensional space coordinate data the three-dimensional scanner that can carry out the data acquisition of characteristic point cloud and feature automatic Mosaic to these three dimensional space coordinate data that obtain measurand, described three-dimensional scanner moves to be located on described second rest area; And
In order to send the host computer of operational order and display result data, described host computer is equipped and can carries out model emulation analysis to draw the model emulation analysis software of the vertex scheme vector of described curved surface part to described curved surface part, and described host computer is electrically connected with described control unit, described three-dimensional scanner respectively.
Particularly, described pose calibrating block is rectangular structure, and the length of described rectangular structure, width and unequal highly mutually.
Further, the length of described pose calibrating block is 45-50mm, width is 25-30mm, highly for 15-20mm.
Particularly, described robot also comprises the bottom of being located at described robot body and to slide the slide block arranged and the sliding platform coordinated with described skid to make described robot body, described sliding platform is located on described second rest area and machine direction along described machined surface is extended, and described three-dimensional scanner is located at one end of described sliding platform.
The technique effect of the process equipment of curved surface part of the present utility model is: process equipment of the present utility model forms primarily of robot, pose calibrating block, three-dimensional scanner and host computer, thus, before processing, the vertex scheme vector of curved surface part first can be drawn by the model emulation analysis software that host computer arranges; The pose coordinate theoretical value that may be used for control and curved surface part is processed is converted to again according to robot algorithm model; Demarcate the pose calibrating block position relationship relative to the central point of process tool, to be obtained pose value during cutter under process tool by the pose value correspondence of pose calibrating block; And add man-hour, robot just can be made to move to machining area; Now, first according to pose coordinate theoretical value, corresponding adjustment is carried out to the attitude of the process tool of robot by control unit, simultaneously, three-dimensional scanner is made to scan pose calibrating block, to draw the actual value of pose calibrating block, then draw the actual attitude error of robot according to the difference between actual value and theoretical value, and correspondence draws the attained pose error that actuator is current; Then, compensated and corrected by the pose coordinate value that control unit is current according to the actuator of actual deflection error to robot; Again then, robot just can be made to process machining area corresponding on machined surface; After complete, repeat above-mentioned procedure of processing, until the machining area on machined surface machines.Whole processing method is easy and simple to handle, effectively can improve the pose positioning precision of robot, and is conducive to improving the precision that batch curved surface part repeats processing; Meanwhile, also can ensure that the generating tool axis vector of the process tool after compensating is consistent with the curved surface normal vector of curved surface part, improve the coaxial precision of the drilling processing of curved surface part, thus ensure the accurate assembly of the position, hole of curved surface part.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the process equipment of curved surface part of the present utility model;
Fig. 2 is the pose calibrating block of the process equipment of curved surface part of the present utility model and the position relationship schematic diagram of process tool;
Fig. 3 and Fig. 4 is the process equipment of curved surface part of the present utility model draws the vertex scheme vector of curved surface part schematic diagram by model emulation analysis software;
Fig. 5 is that the pose of the process tool of the process equipment of curved surface part of the present utility model compensates schematic diagram;
Fig. 6 is the schematic diagram that the pose of the process equipment of curved surface part of the present utility model compensates;
Fig. 7 is the FB(flow block) that the pose of the robot of the process equipment of curved surface part of the present utility model compensates.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
the embodiment of the processing method of curved surface part:
Refer to Fig. 1 to Fig. 7, below the processing method of the curved surface part of the present embodiment is set forth.
The processing method of the curved surface part of the present embodiment, comprises the following steps:
Step S101, prepare curved surface part 20 to be processed, curved surface part 20 has at least one machined surface 21, and on machined surface 21, set the machine direction in order to process machined surface, and wherein, this machine direction as indicated by the arrowp;
Step S102, arrange one for curved surface part 20 stop place the first rest area 11;
Step S103, curved surface part 20 is located on the first rest area 11;
Step S104, prepare a sectional and move robot 12 to carry out segmental machining to curved surface part 20, the control unit (not indicating in figure) that robot 12 comprises robot body 121 and works in order to control machine human body 121 is set, make the actuator 1210 robot body 121 being equipped with perform Machining Instruction, actuator 1210 is set and comprises main shaft 1211 and process tool 1212, this process tool 1212 is made to be located on main shaft 1211, control unit is made to be configured with robot algorithm model, wherein, this process tool 1212 can be drilling or milling cutter,
Step S105, arrange one, for robot 12, the second rest area 13 arranged is installed, and make the second rest area 13 be close to the first rest area 11;
Step S106, robot 12 moved along the machine direction of machined surface 21 and is located on the second rest area 13, and on control unit, set the work coordinate system of robot 12, and make work coordinate system comprise mutually perpendicular X-direction, Y-direction and Z-direction;
Step S107, the shift position of defining robot 12 in order to the mark pose calibrating block 14 relative to the pose deviation of theoretical pose value is set on main shaft 1211, and make the center line of pose calibrating block 14 and the vertical and intersectant centerline of main shaft 1211, make pose calibrating block 14 comprise mutually perpendicular length direction, width and short transverse;
Step S108, on the second rest area 13, arrange one for scanning the three dimensional space coordinate data that obtain measurand and the three-dimensional scanner 15 of the data acquisition of characteristic point cloud and feature automatic Mosaic can being carried out these three dimensional space coordinate data, three-dimensional scanner 15 is moved and is located on the second rest area 13, and the position location of setting three-dimensional scanner 15;
Step S109, preparation one in order to send the host computer 16 of operational order and display result data, and make host computer 16 be electrically connected with control unit, three-dimensional scanner 15 respectively.
Step S110, on host computer 16, be equipped with the model emulation analysis software that can carry out model emulation analysis to curved surface part 20, and drawn the vertex scheme vector of curved surface part 20 by model emulation analysis software, then according to robot algorithm model, vertex scheme vector is converted to the pose coordinate theoretical value that may be used for control 12 pairs of curved surface parts 20 and process;
Step S111, demarcate the position relationship of pose calibrating block 14 relative to the central point of process tool 1212, to be obtained pose value during process tool 1212 times cuttves by the pose value correspondence of pose calibrating block 14;
Step S112, move to the machining area on machined surface 21 by control unit control 12, the current three-dimensional pose coordinate of this robot 12 of definable is (x, y, z);
Step S113, carry out corresponding adjustment by host computer 16 according to the normal vector of pose coordinate theoretical value to the process tool 1212 of robot 12, the current three-dimensional pose coordinate of this process tool 1212 of definable is (Rx, Ry, Rz);
Step S114, make three-dimensional scanner 15 scan pose calibrating block 14, and reach host computer 16 by scanning the view data obtained;
Step S115, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to the view data that three-dimensional scanner 15 transmits, to draw the three dimensional space coordinate data of pose calibrating block 14, and the three-dimensional pose coordinate that now process tool 1212 of actuator 1210 is current is (Rx
1, Ry
1, Rz
1); And draw attained pose error according to the difference between actual value and theoretical value, be (Δ Rx, Δ Ry, Δ Rz), draw with correspondence the attained pose error that the process tool 1212 of actuator 1210 is current;
Step S116, to be compensated and corrected by the pose coordinate value that host computer 16 is current according to the actuator 1210 of attained pose error to robot 12;
Step S117, to be processed by machining area corresponding on control unit control 12 pairs of machined surfaces 21;
Step S118, repeat step S112 to step S117, until the machining area on machined surface 21 machines.
In the present embodiment, by being provided with robot 12, pose calibrating block 14, three-dimensional scanner 15 and host computer 16, thus, before processing, the vertex scheme vector of curved surface part 20 first can be drawn by the model emulation analysis software that host computer 16 arranges; The pose coordinate theoretical value that may be used for control 12 pairs of curved surface parts 20 and process is converted to again according to robot algorithm model; Demarcate the position relationship of pose calibrating block 14 relative to the central point of process tool 1212, to be obtained pose value during process tool 1212 times cuttves by the pose value correspondence of pose calibrating block 14; And add man-hour, robot 12 just can be made to move to machining area; Now, first carry out corresponding adjustment by control unit according to the attitude of pose coordinate theoretical value to the process tool 1212 of robot 12, simultaneously, three-dimensional scanner 15 is made to scan pose calibrating block 14, to draw the actual value of pose calibrating block, then draw the actual attitude error of robot 12 according to the difference between actual value and theoretical value, and correspondence draws the attained pose error that actuator 1210 is current; Then, compensated and corrected by the pose coordinate value that control unit is current according to the actuator 1210 of actual deflection error to robot 12; Again then, machining area corresponding on robot 12 pairs of machined surfaces 21 just can be made to process; After complete, repeat above-mentioned procedure of processing, until the machining area on machined surface 21 machines.Whole processing method is easy and simple to handle, effectively can improve the pose positioning precision of robot 12, and is conducive to improving the precision that batch curved surface part 20 repeats processing; Meanwhile, also can ensure that the generating tool axis vector of the process tool 1212 after compensating is consistent with the curved surface normal vector of curved surface part 20, improve the coaxial precision of the drilling processing of curved surface part 20, thus ensure the accurate assembly of the position, hole of curved surface part 20.
Refer to Fig. 3 and Fig. 4, in step s 110, specifically comprise following:
Wherein, the model emulation analysis software of the present embodiment comprises UG software and reverse modeling Geomagic software composition, accordingly, draws following:
Reference point is chosen: in the CAM module of the UG software in model emulation analysis software, processed by the model of simulation cutter to curved surface part 20, choose simulation cutter to the arbitrary lower cutter point of the model of curved surface part 20, and following cutter point be the center of circle, radius be r circumferentially choose the equal reference point in three intervals, these three reference points are respectively A, B, C, and r > 0;
Vertex scheme vector calculation: set up a plane by three reference points chosen, and carry out the normal vector N of program calculation plane by the secondary development function of the UG software in model emulation analysis software, draws vertex scheme vector with correspondence.
Refer to Fig. 2, for the ease of Production design, pose calibrating block 14 is set for rectangular structure, and make the length of rectangular structure, width and unequal highly mutually, so that user knows the length, width and the height that distinguish rectangular structure, the X-direction of the work coordinate system knowing robot 20, Y-direction and Z-direction then can be known.Further, the length arranging pose calibrating block 14 is 45-50mm, width is 25-30mm, highly for 15-20mm, and preferably, the length can choosing this pose calibrating block 14 is 50mm, width is 30mm, be highly 20mm.
the embodiment of the process equipment of curved surface part:
Refer to Fig. 1 to Fig. 7, below the most preferred embodiment of the process equipment of curved surface part of the present utility model is set forth.
In the present embodiment, curved surface part 20 has at least one machined surface 21, machined surface 21 is provided with the machine direction in order to process machined surface 21, wherein, this machine direction as indicated by the arrowp, and the process equipment 10 of the present embodiment comprises the first rest area 13, rest area 11, second, robot 12, pose calibrating block 14, three-dimensional scanner 15 and host computer 16, below each parts of this process equipment 10 are described further:
First rest area 11 is placed for stopping for curved surface part 20;
Second rest area 13 is close to the first rest area 11;
Robot 12 sectional moves to carry out segmental machining to curved surface part 20, wherein, the control unit (not indicating in figure) that robot 12 comprises robot body 121 and works in order to control machine human body 121, robot body 121 is equipped with the actuator 1210 performing Machining Instruction, actuator 1210 comprises main shaft 1211 and is installed on the process tool 1212 on main shaft 1211, actuator 1210 comprises main shaft 1211 and is located at the process tool 1212 on main shaft 1211, control unit is configured with the work coordinate system of robot algorithm model and robot 12, and this work coordinate system comprises mutually perpendicular X-direction, Y-direction and Z-direction, wherein, this process tool 1212 can be drilling and milling cutter,
Pose calibrating block 14 is define the pose deviation of shift position relative to theoretical pose value of robot 12 in order to mark, wherein, pose calibrating block 14 is located on main shaft 1211, and the vertical and intersectant centerline of the center line of pose calibrating block 14 and main shaft 1211, pose calibrating block 14 comprises mutually perpendicular length direction, width and short transverse;
Three-dimensional scanner 15 is also can carry out the data acquisition of characteristic point cloud and feature automatic Mosaic to these three dimensional space coordinate data for scanning the three dimensional space coordinate data obtaining measurand, and wherein, three-dimensional scanner 15 moves to be located on the second rest area 13;
Host computer 16 is in order to send operational order and to show result data, wherein, host computer 16 is equipped and can carries out model emulation analysis to draw the model emulation analysis software of the vertex scheme vector of curved surface part 20 to curved surface part 20, and host computer 16 is electrically connected with control unit, three-dimensional scanner 15 respectively.
The process equipment 10 of the present embodiment forms primarily of robot 12, pose calibrating block 14, three-dimensional scanner 15 and host computer 16, thus, before processing, first can be drawn the vertex scheme vector of curved surface part 20 by the model emulation analysis software that host computer 16 arranges, then be converted to the pose coordinate theoretical value that may be used for control 12 pairs of curved surface parts 20 and process according to robot algorithm model; Demarcate the position relationship of pose calibrating block 14 relative to the central point of process tool 1212, to be obtained pose value during process tool 1212 times cuttves by the pose value correspondence of pose calibrating block 14; And add man-hour, then, robot 12 just can be made to move to machining area; Now, first carry out corresponding adjustment by control unit according to the attitude of pose coordinate theoretical value to the process tool 1212 of robot 12, simultaneously, three-dimensional scanner 15 is made to scan pose calibrating block 14, to draw the actual value of pose calibrating block, then draw robot 12 attained pose error according to the difference between actual value and theoretical value, and correspondence draws the attained pose error that actuator 1210 is current; Then, compensated and corrected by the pose coordinate value that control unit is current according to the actuator 1210 of actual deflection error to robot 12; Again then, machining area corresponding on robot 12 pairs of machined surfaces 21 just can be made to process; After complete, repeat above-mentioned procedure of processing, until the machining area on machined surface 21 machines.Whole processing method is easy and simple to handle, effectively can improve the pose positioning precision of robot 12, and is conducive to improving the precision that batch curved surface part 20 repeats processing; Meanwhile, also can ensure that the generating tool axis vector of the process tool 1212 after compensating is consistent with the curved surface normal vector of curved surface part 20, improve the coaxial precision of the drilling processing of curved surface part 20, thus ensure the accurate assembly of the position, hole of curved surface part 20.
Refer to Fig. 2, for the ease of Production design, this pose calibrating block 14 is rectangular structure, and the length of rectangular structure, width and unequal highly mutually, so that user knows the length, width and the height that distinguish rectangular structure, the X-direction of the work coordinate system knowing robot 20, Y-direction and Z-direction then can be known.Further, the length of pose calibrating block 14 is 45-50mm, width is 25-30mm, highly for 15-20mm, and preferably, the length can choosing this pose calibrating block 14 is 50mm, width is 30mm, be highly 20mm.
Refer to Fig. 1, the robot 12 of the present embodiment also comprises the bottom of being located at robot body 121 and to slide the slide block 122 arranged and the sliding platform 123 be slidably matched with slide block 122 to make robot body 121, wherein, this sliding platform 123 is located on the second rest area 13, and extended along the machine direction of machined surface 21, this three-dimensional scanner 15 is located at one end of sliding platform 123.And by the setting of slide block 122 and sliding platform 123, make robot body 121 move along the machine direction of machined surface 21 simply and effectively.
Below in conjunction with each graphic, the operation principle of the process equipment 10 of the curved surface part of the present embodiment is described further:
Before processing, first can be drawn the vertex scheme vector of curved surface part 20 by the model emulation analysis software that host computer 16 arranges, then be converted to the pose coordinate theoretical value that may be used for control 12 pairs of curved surface parts 20 and process according to robot algorithm model; Demarcate the position relationship of pose calibrating block 14 relative to the central point of process tool 1212, to be obtained pose value during process tool 1212 times cuttves by the pose value correspondence of pose calibrating block 14; And add man-hour, robot 12 just can be made to move to machining area; Now, first carry out corresponding adjustment by control unit according to the attitude of pose coordinate theoretical value to the process tool 1212 of robot 12, simultaneously, three-dimensional scanner 15 is made to scan pose calibrating block 14, to draw the actual value of pose calibrating block, then draw robot 12 attained pose error according to the difference between actual value and theoretical value, and correspondence draws the attained pose error that actuator 1210 is current; Then, compensated and corrected by the pose coordinate value that control unit is current according to the actuator 1210 of attained pose error to robot 12; Again then, machining area corresponding on robot 12 pairs of machined surfaces 21 just can be made to process; After complete, repeat above-mentioned procedure of processing, until the machining area on machined surface 21 machines.
The foregoing is only the utility model preferred embodiment; its structure is not limited to the above-mentioned shape enumerated; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (4)
1. the process equipment of curved surface part, described curved surface part has at least one machined surface, and described machined surface is provided with the machine direction in order to process described machined surface, it is characterized in that, described process equipment comprises:
First rest area of placing is stopped for described curved surface part;
Be close to the second rest area of described first rest area;
In order to the robot processed described curved surface part, the machine direction of machined surface described in described Robot moves to be located on described second rest area, and described robot comprises robot body and the control unit in order to control described robot body work, described robot body is equipped with the actuator performing Machining Instruction, described actuator comprises main shaft and is located at the process tool on described main shaft, and described control unit is configured with robot algorithm model;
Define the pose calibrating block of shift position relative to the pose deviation of theoretical pose value of described robot in order to mark, described pose calibrating block is located on described main shaft, and the center line of described pose calibrating block and the vertical and intersectant centerline of described main shaft;
For scanning the three dimensional space coordinate data the three-dimensional scanner that can carry out the data acquisition of characteristic point cloud and feature automatic Mosaic to these three dimensional space coordinate data that obtain measurand, described three-dimensional scanner moves to be located on described second rest area; And
In order to send the host computer of operational order and display result data, described host computer is equipped and can carries out model emulation analysis to draw the model emulation analysis software of the vertex scheme vector of described curved surface part to described curved surface part, and described host computer is electrically connected with described control unit, described three-dimensional scanner respectively.
2. the process equipment of curved surface part as claimed in claim 1, is characterized in that: described pose calibrating block is rectangular structure, and the length of described rectangular structure, width and unequal highly mutually.
3. the process equipment of curved surface part as claimed in claim 2, is characterized in that: the length of described pose calibrating block is 45-50mm, width is 25-30mm, be highly 15-20mm.
4. the process equipment of the curved surface part as described in any one of claim 1-3, it is characterized in that: described robot also comprises the bottom of being located at described robot body and to slide the slide block arranged and the sliding platform coordinated with described skid to make described robot body, described sliding platform is located on described second rest area and machine direction along described machined surface is extended, and described three-dimensional scanner is located at one end of described sliding platform.
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| CN201520216126.2U CN204584869U (en) | 2015-04-10 | 2015-04-10 | The process equipment of curved surface part |
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| CN201520216126.2U CN204584869U (en) | 2015-04-10 | 2015-04-10 | The process equipment of curved surface part |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104865897A (en) * | 2015-04-10 | 2015-08-26 | 深圳市圆梦精密技术研究院 | Curved part processing method and curved part processing equipment |
| CN105066831A (en) * | 2015-09-09 | 2015-11-18 | 大族激光科技产业集团股份有限公司 | Calibration method of single or multi-robot system cooperative work coordinate system |
| CN106041928A (en) * | 2016-06-24 | 2016-10-26 | 东南大学 | Robot job task generation method based on workpiece model |
| CN107309884A (en) * | 2016-04-27 | 2017-11-03 | 上海福赛特机器人有限公司 | Robot calibration system and method |
| CN107398566A (en) * | 2016-05-22 | 2017-11-28 | 江海职业技术学院 | One kind is without guide rail horizontal digital-control turning machine and control method |
| CN114536399A (en) * | 2022-01-07 | 2022-05-27 | 中国人民解放军海军军医大学第一附属医院 | Error detection method based on multiple pose identifications and robot system |
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2015
- 2015-04-10 CN CN201520216126.2U patent/CN204584869U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104865897A (en) * | 2015-04-10 | 2015-08-26 | 深圳市圆梦精密技术研究院 | Curved part processing method and curved part processing equipment |
| CN104865897B (en) * | 2015-04-10 | 2017-09-22 | 深圳市圆梦精密技术研究院 | The processing method of curved surface part and the process equipment of curved surface part |
| CN105066831A (en) * | 2015-09-09 | 2015-11-18 | 大族激光科技产业集团股份有限公司 | Calibration method of single or multi-robot system cooperative work coordinate system |
| CN107309884A (en) * | 2016-04-27 | 2017-11-03 | 上海福赛特机器人有限公司 | Robot calibration system and method |
| CN107398566A (en) * | 2016-05-22 | 2017-11-28 | 江海职业技术学院 | One kind is without guide rail horizontal digital-control turning machine and control method |
| CN107398566B (en) * | 2016-05-22 | 2019-01-15 | 江海职业技术学院 | A kind of no guide rail horizontal digital-control turning machine and control method |
| CN106041928A (en) * | 2016-06-24 | 2016-10-26 | 东南大学 | Robot job task generation method based on workpiece model |
| CN106041928B (en) * | 2016-06-24 | 2018-03-20 | 东南大学 | A kind of robot manipulating task task generation method based on part model |
| CN114536399A (en) * | 2022-01-07 | 2022-05-27 | 中国人民解放军海军军医大学第一附属医院 | Error detection method based on multiple pose identifications and robot system |
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