CN105929797A - Six-axis joint robot distributed control system and method - Google Patents

Six-axis joint robot distributed control system and method Download PDF

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Publication number
CN105929797A
CN105929797A CN201610370888.7A CN201610370888A CN105929797A CN 105929797 A CN105929797 A CN 105929797A CN 201610370888 A CN201610370888 A CN 201610370888A CN 105929797 A CN105929797 A CN 105929797A
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module
axle
cam
motor
control module
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CN201610370888.7A
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陈阳
高大林
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SHENZHEN VMMORE CONTROL TECHNOLOGY Co Ltd
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SHENZHEN VMMORE CONTROL TECHNOLOGY Co Ltd
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Priority to CN201610370888.7A priority Critical patent/CN105929797A/en
Publication of CN105929797A publication Critical patent/CN105929797A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a six-axis joint robot distributed control system and a six-axis joint robot distributed control method. The control method includes the following steps that: a master station transmits a six-axis joint robot positioning instruction in a user program to a robot inverse solution calculation module; the robot inverse solution calculation module carries out inverse solution calculation on the position of a target point, analyzes the position of the target point to obtain corresponding parameters, and sends the parameters to the motor drivers of slave stations through a bus; after receiving valid data, the motor drivers obtain positioning operation parameters in the valid data through analysis, and send the positioning operation parameters to electronic cam modules; the electronic cam modules carry out periodic calculation under the driving of a virtual spindle and calculate periodic pulse quantity of each period; and motor control modules drive motor to operate according to the periodic pulse quantity. With the six-axis joint robot distributed control system and the six-axis joint robot distributed control method of the invention adopted, requirements for the calculation ability of the master station and requirements for the bandwidth of the bus can be lowered, and wiring and troubleshooting difficulty can be reduced, and anti-interference ability can be improved.

Description

A kind of six axle articulated robot dcs and methods
Technical field
The present invention relates to technical field of robot control, particularly relate to a kind of six distributed controls of axle articulated robot System and method processed.
Background technology
Six axle articulated robots are a kind of typical tandem type industrial robots, are the most normal in current industrial circle One of form of industrial robot seen, is suitable for the automated job of many industrial circles, such as, certainly The operations such as dynamic assembling, automatically spraying, carrying, piling, welding.The anti-solution of six axle articulated robots, refers to root According to given object pose and mechanical parameter, calculate the angle of each joint shaft, such that it is able to control each joint Motor movement arrives object pose.The anti-calculating solved is more complicated, and therefore controlling robot motion needs special Controller, the technology of current main flow has a following two:
1, the scheme of Based PC+motion control card: the logic control mathematical calculation relevant with robot is at PC Carrying out on platform, motor control is stuck in each control cycle by the result of calculating by pulse or communication bus It is sent to motor servo driver；
2, scheme based on special motion controller: use the processor than higher-end in motion controller, Completion logic controls the mathematical calculation relevant with robot, in each control cycle, the result of calculating is passed through arteries and veins Punching or communication bus are sent to motor servo driver.
But, in the above prior art, there is problems in that first, above-mentioned technology belongs to centralized Control, Controller needs to carry out periodically the most counter to solve calculating, requires the highest to the computing capability of processor；Secondly, make Impulse line will be connected with the communication of pulse period property, controller and each motor driver, hold the most very much Being vulnerable to interference, occur that during interference, investigation and solution are the most relatively difficult, wiring quantity is the most more；Additionally, make Use high-speed field bus periodic communication, the transmission bandwidth of bus is required higher, need to select high-performance The bus of high cost, it is achieved scheme is complicated.
In recent years, along with developing rapidly of semiconductor technology, embedded type CPU disposal ability is increasingly stronger, deposits Storage space is increasing, and it is more than needed that this makes motor driver have on the premise of completing motor control correlation computations Resource.But the resource that motor driver is more than needed at present is used for strengthening the driveability of motor, from system From the perspective of, the pressure promoting not reduction controller CPU of driver cpu performance.
Summary of the invention
The technical problem to be solved in the present invention is, for the deficiencies in the prior art, it is provided that a kind of six axle joints Robot distributed control system and method, in order to reduce the requirement to main website computing capability, to reduce bus Bandwidth demand, reduce wiring and investigation difficulty, improve capacity of resisting disturbance.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that.
A kind of six axle articulated robot dcs, it includes six axle articulated robots, a master Stand and five slave stations, described main website six joints driving six axle articulated robots the most corresponding with slave station, its In: preset user program module, PTP command execution module in described main website, robot is counter solves calculating mould Block, communication control module, virtual main shaft module, electric cam module and motor control module, described user Program module is for performing the logical order that user writes, and this logical order comprises positioning instruction, fixed in execution During bit instruction, PTP command execution module obtains the coordinate of ground point in instruction, is sent to that robot is counter solves meter Calculating module, robot is counter to be solved computing module and solves calculating to the pose of impact point is counter, show that impact point is corresponding The position of each axle, this shaft position is transmitted directly to the electric cam module of this axle, and the position of other axles leads to Crossing communication control module and be sent to each slave station, the most virtual main shaft module continuously sends out virtual main shaft, drives The electric cam of each axle runs；Motor control module, electric cam module and communication is preset in described slave station Control module, after communication control module receives this axle target location, passes to electric cam module by parameter, Electric cam module, according to these parameters, calculates corresponding electronic cam curve and is saved in CAM table, when connecing When receiving virtual main shaft, periodically calculate the recurrent pulse amount that this cycle should send, institute according to CAM table State motor control module and receive the output signal in electric cam module each cycle, and control electricity according to this signal Machine runs.
Preferably, in described main website: described user program module, by user program, is called under program Six axle articulated robot positioning instructions, described positioning instruction includes X, Y, Z of coordinate system lower end executor The parameters such as the anglec of rotation of coordinate and end effector, user program module after positioning instruction comes into force by this A little parameters pass to PTP command execution module；Described communication control module is right for parameter being transmitted The motor driver answered；Described virtual main shaft module is periodic amount shipped out and speed in running in interpolation Spend controlled virtual main shaft.
Preferably, in described slave station: communication control module is sent to the parameter of the machine for receiving main website, right Communication data verifies, verify by after parameter is sent to electric cam module；Electric cam module root Automatically generation cam curve is calculated, fortune according to parameters such as the curve type set, impact point pose, current poses Obtain the recurrent pulse amount in each cycle during row according to virtual main shaft computation of Period, be sent to motor control module； Motor control module, for driving motor to run according to recurrent pulse amount, feeds back the running status of motor simultaneously.
Preferably, described electric cam module includes: parameter buffer, is used for preserving communication control module and sends out The positional control parameters come；Electronic cam curve computing module, convex for calculating corresponding electronics according to parameter Wheel curve is saved in CAM table；CAM table, is used for preserving electronic cam curve；Virtual main shaft receiver module, For receiving the virtual main shaft that controller passes within each calculating cycle, and calculate main shaft increment；Electricity Sub-cam operation control module, for calculating this week according to virtual main shaft and CAM table within each calculating cycle The recurrent pulse amount that phase should send, and it is sent to motor control module.
A kind of six axle articulated robot distributed control methods, this control method includes: main website is by user program In six axle articulated robot positioning instructions be sent to the anti-computing module that solves of robot, robot is counter solves calculating mould Block solves calculating to the position of impact point is counter, resolves to the parameter of correspondence, parameter is sent to by bus In the motor driver of slave station, motor driver receives positioning trip parameter therein after effective data Parsing, be sent to electric cam module, electric cam module is carried out the cycle under the driving of virtual main shaft Property calculating, each computation of Period goes out recurrent pulse amount, motor control module according to recurrent pulse amount drive electricity Machine runs.
Six axle articulated robot dcs and methods disclosed by the invention, its compared to existing technology and Having the beneficial effects that of speech, first, the present invention is carried out in each spindle motor driver of six axle articulated robots Computation of Period, makes full use of the calculating resource that motor driver is more than needed, less demanding to main website computing capability； Secondly, the present invention carries out having only to pass through on startup bus transfer when location controls at six axle articulated robots One group of parameter, has only to send virtual main shaft, it is not necessary to periodically transmit data in Interpolation Process, fall The low bandwidth demand to bus；Additionally, the present invention has only to connecting communication circuit between main website and slave station And virtual main shaft circuit, reduce wiring and the difficulty of investigation, be not easily susceptible to interference.
Accompanying drawing explanation
Fig. 1 is the flow chart of anti-solution preocess in the present invention six axle articulated robot distributed control method.
Fig. 2 is the composition frame chart of the present invention six axle articulated robot dcs.
Fig. 3 is the internal frame diagram of electric cam module.
Fig. 4 is the joint distribution schematic diagram of six axle articulated robots；
Fig. 5 is the coordinate schematic diagram in the six each joints of axle articulated robot in Fig. 4.
Detailed description of the invention
With embodiment, the present invention is described in more detail below in conjunction with the accompanying drawings.
The invention discloses a kind of six axle articulated robot dcs, in conjunction with shown in Fig. 1 to Fig. 5, It includes six axle articulated robots, a main website and five slave stations, and described main website and slave station correspondence respectively is driven Six joints of dynamic six axle articulated robots, wherein:
Preset user program module, PTP command execution module in described main website, robot is counter solves calculating mould Block, communication control module, virtual main shaft module, electric cam module and motor control module, described user Program module is for performing the logical order that user writes, and this logical order comprises positioning instruction, fixed in execution During bit instruction, PTP command execution module obtains the coordinate of ground point in instruction, is sent to that robot is counter solves meter Calculating module, robot is counter to be solved computing module and solves calculating to the pose of impact point is counter, show that impact point is corresponding The position of each axle, this shaft position is transmitted directly to the electric cam module of this axle, and the position of other axles leads to Crossing communication control module and be sent to each slave station, the most virtual main shaft module continuously sends out virtual main shaft, drives The electric cam of each axle runs；
Preset in described slave station the motor control module identical with described master function, electric cam module and Communication control module, after communication control module receives this axle target location, passes to electric cam by parameter Module, electric cam module, according to these parameters, calculates corresponding electronic cam curve and is saved in CAM table, When receiving virtual main shaft, periodically calculate the recurrent pulse amount that this cycle should send according to CAM table, Described motor control module receives the output signal in electric cam module each cycle, and controls according to this signal Motor runs.
As a kind of optimal way, in described main website:
Described user program module, by user program, is called six axle articulated robot location under program and is referred to Order, described positioning instruction includes the X of coordinate system lower end executor, Y, Z coordinate and end effector The parameters such as the anglec of rotation, these parameters are passed to PTP order after positioning instruction comes into force by user program module Perform module；Described communication control module for transmitting the motor driver of correspondence by parameter；Described Virtual main shaft module periodically amount shipped out and the controlled virtual main shaft of speed in running in interpolation.
As a kind of optimal way, in described slave station:
Communication control module is sent to the parameter of the machine for receiving main website, verifies communication data, school Test by after parameter is sent to electric cam module；Electric cam module is according to the curve type set, mesh The parameters such as punctuate pose, current pose calculate generation cam curve, automatically according to the virtual main shaft cycle during operation It is calculated the recurrent pulse amount in each cycle, is sent to motor control module；Motor control module is used for root Drive motor to run according to recurrent pulse amount, feed back the running status of motor simultaneously.
In the present embodiment, described electric cam module includes:
Parameter buffer, for preserving the positional control parameters that communication control module is sent；
Electronic cam curve computing module, is saved in convex for calculating corresponding electronic cam curve according to parameter Wheel table；
CAM table, is used for preserving electronic cam curve；
Virtual main shaft receiver module, for receiving the virtual master that controller passes within each calculating cycle Axle, and calculate main shaft increment；
Electric cam operation control module, by based in each calculating cycle according to virtual main shaft and CAM table Calculate the recurrent pulse amount that this cycle should send, and be sent to motor control module.
Based on above-mentioned six axle articulated robot dcs, invention additionally discloses a kind of six axle joint machines Device people's distributed control method, this control method includes: main website is by six axle articulated robots in user program Positioning instruction is sent to the anti-computing module that solves of robot, and the position of impact point is entered by the anti-computing module that solves of robot Row is counter solves calculating, resolves to the parameter of correspondence, parameter is sent in the motor driver of slave station by bus, Motor driver receives after effective data by positioning trip Parameter analysis of electrochemical therein out, is sent to electronics Module, electric cam module periodically calculates under the driving of virtual main shaft, and each cycle counts Calculating recurrent pulse amount, motor control module drives motor to run according to recurrent pulse amount.
Further, six of a main website in system and five slave stations corresponding six axle articulated robots respectively Joint, main website motor driver can be based on flush bonding processors such as ARM, user's journey that processor runs Sequence module can process the program that user writes, and user written program controls the location fortune of six axle articulated robots OK.Program judges, when positioning instruction meets execution condition, parameter to be delivered to PTP command execution module, PTP Command execution module calculates, according to the six anti-resolving Algorithms of axle articulated robot, each joint motor that target location is corresponding Position.Described robot is counter, and to solve the anti-resolving Algorithm that computing module performs as follows:
Given expected pose:
n x o x a x p x n y o y a y p y n z o z a z p z 0 0 0 1
Anti-solution calculates each joint angles:
θ1=atan (py/px)
θ234=atan (az/(C1ax+S1ay))
C 3 = ( ( p x C 1 + p y S 1 - C 234 a 4 ) 2 + ( p z - S 234 a 4 ) - a 2 2 - a 3 2 ) / 2 a 2 a 3
S 3 = ± 1 - C 3 2
θ3=atan (S3/C3)
θ 2 = a t a n ( C 3 a 4 + a 2 ) ( p z - S 2 a 4 ) - S 3 a 3 ( p x C 1 + p y S 1 - C 234 a 4 ) ( C 3 a 4 + a 2 ) ( p x C 1 + p y S 1 - C 2 a 4 ) + S 3 a 3 ( p z - S 234 a 4 )
θ4=θ234-θ2-θ3
θ5=atan (C234(C1ax+S1ay)+S234az)/(S1ax-C1ay)
θ6=atan (-S234(C1nx+S1ny)+C234nz)/(-S234(C1ox+S1oy)+C234oz)
Wherein: θ 1 is joint 1 angle, θ 2 is joint 2 angle, and θ 3 is joint 3 angle, and θ 1 is joint 4 angles, θ 2 is joint 5 angle, and θ 3 is joint 6 angle.Calculate θ 1, θ 2, θ 3, θ 4, θ 5, θ 6 After, robot is counter solves the computing module mechanical parameter according to user preset, such as reductor speed reducing ratio, brachium etc., Calculating the target location of corresponding each spindle motor, these data are sent to local electronic cam die by main website afterwards Block and communication control module, communication control module is made up of Communication processing program and communication interface hardware, is connecing After receiving that six axle multi-joints are counter and solving the data that computing module sends over, convert the data into the lattice needed for communication Formula, is sent to the motor driver of correspondence, when each slave station has received positioning trip parameter also by interface hardware After generating cam curve, PTP command execution module starts virtual main shaft, starts to drive positioning trip.
Slave station motor driver includes communication control module, electric cam module and motor control module.Wherein After communication control module receives communication frames, data are verified, judge whether according to the address in data It is destined to the data of the machine.If being sent to the data of the machine and verifying correct, then the number that will parse According to being sent to electric cam module.Then require in the event of check errors to retransmit.Motor control module controls The recurrent pulse amount of electric cam module output followed by motor, calculates including position ring, speed ring, electric current loop Logic and corresponding hardware, and the protection of necessity and control function.
In the present embodiment, electric cam module includes parameter buffer, electronic cam curve computing module, convex Wheel table, virtual main shaft receiver module and electric cam operation control module.Parameter buffer is used for preserving communication The relevant parameter that control module sends over, typically, controls parameter, mesh including curve type, track ginseng Punctuate pose etc.；During positioning starting, electronic cam curve computing module calculates phase according to parameter buffer content The electronic cam curve answered, is saved in CAM table, and the most virtual main shaft receiver module starts to receive virtual master Axle, electric cam operation control module is calculated recurrent pulse amount according to position and the CAM table of virtual main shaft.
Six axle articulated robot dcs and methods disclosed by the invention, its compared to existing technology and Having the beneficial effects that of speech, first, the present invention is carried out in each spindle motor driver of six axle articulated robots Computation of Period, makes full use of the calculating resource that motor driver is more than needed, less demanding to main website computing capability； Secondly, the present invention carries out having only to pass through on startup bus transfer when location controls at six axle articulated robots One group of parameter, has only to send virtual main shaft, it is not necessary to periodically transmit data in Interpolation Process, fall The low bandwidth demand to bus；Additionally, the present invention has only to connecting communication circuit between main website and slave station And virtual main shaft circuit, reduce wiring and the difficulty of investigation, be not easily susceptible to interference.
The above is preferred embodiment of the present invention, is not limited to the present invention, all the present invention's Amendment, equivalent or the improvement etc. made in technical scope, should be included in the model that the present invention is protected In enclosing.

Claims (7)

1. an axle articulated robot dcs, it is characterised in that include six axle joint machines Device people, a main website and five slave stations, described main website and slave station the most corresponding driving six axle articulated robots Six joints, wherein:
Preset user program module, PTP command execution module in described main website, robot is counter solves calculating mould Block, communication control module, virtual main shaft module, electric cam module and motor control module, described user Program module is for performing the logical order that user writes, and this logical order comprises positioning instruction, fixed in execution During bit instruction, PTP command execution module obtains the coordinate of ground point in instruction, is sent to that robot is counter solves meter Calculating module, robot is counter to be solved computing module and solves calculating to the pose of impact point is counter, show that impact point is corresponding The position of each axle, this shaft position is transmitted directly to the electric cam module of this axle, and the position of other axles leads to Crossing communication control module and be sent to each slave station, the most virtual main shaft module continuously sends out virtual main shaft, drives The electric cam of each axle runs；
Motor control module, electric cam module and communication control module, communication control is preset in described slave station After molding block receives this axle target location, parameter is passed to electric cam module, electric cam module root According to these parameters, calculate corresponding electronic cam curve and be saved in CAM table, when receiving virtual main shaft, Periodically calculate the recurrent pulse amount that this cycle should send according to CAM table, described motor control module connects Receive the output signal in electric cam module each cycle, and run according to this signal control motor.
Six axle articulated robot dcs the most as claimed in claim 1, it is characterised in that institute State in main website:
Described user program module is by user program, and calls six axle articulated robot location under program Instruction, described positioning instruction includes the X of coordinate system lower end executor, Y, Z coordinate and end effector Rotation angle parameter, these parameters are passed to PTP order after positioning instruction comes into force by user program module Perform module；
Described communication control module for transmitting the motor driver of correspondence by parameter；
Described virtual main shaft module periodically amount shipped out and controlled virtual of speed in running in interpolation Main shaft.
Six axle articulated robot dcs the most as claimed in claim 1, it is characterised in that institute State in slave station:
Communication control module is sent to the parameter of the machine for receiving main website, and verifies communication data, Verify by after parameter is sent to electric cam module；
Electric cam module is counted automatically according to parameters such as the curve type set, impact point pose, current poses Calculate and generate cam curve, during operation, draw the recurrent pulse amount in each cycle according to virtual main shaft computation of Period, It is sent to motor control module；
Motor control module, for driving motor to run according to recurrent pulse amount, feeds back the operation shape of motor simultaneously State.
Six axle articulated robot dcs the most as claimed in claim 1, it is characterised in that institute State electric cam module to include:
Parameter buffer, for preserving the positional control parameters that communication control module is sent；
Electronic cam curve computing module, is saved in convex for calculating corresponding electronic cam curve according to parameter Wheel table；
CAM table, is used for preserving electronic cam curve；
Virtual main shaft receiver module, for receiving the virtual master that controller passes within each calculating cycle Axle, and calculate main shaft increment；
Electric cam operation control module, by based in each calculating cycle according to virtual main shaft and CAM table Calculate the recurrent pulse amount that this cycle should send, and be sent to motor control module.
5. an axle articulated robot distributed control method, it is characterised in that this control method includes: Six axle articulated robot positioning instructions in user program are sent to the anti-computing module that solves of robot, machine by main website Device people is counter to be solved computing module and solves calculating to the position of impact point is counter, resolves to the parameter of correspondence, by parameter Being sent in the motor driver of slave station by bus, motor driver will wherein after receiving effective data Positioning trip Parameter analysis of electrochemical out, be sent to electric cam module, electric cam module is at virtual main shaft Periodically calculating under driving, each computation of Period goes out recurrent pulse amount, and motor control module is according to week Phase pulsed quantity drives motor to run.
Six axle articulated robot distributed control methods the most as claimed in claim 5, it is characterised in that institute State robot counter solve computing module perform anti-resolving Algorithm as follows:
Given expected pose:
n x o x a x p x n y o y a y p y n z o z a z p z 0 0 0 1
Anti-solution calculates each joint angles:
θ1=atan (py/px)
θ234=atan (az/(C1ax+S1ay))
C 3 = ( ( p x C 1 + p y S 1 - C 234 a 4 ) 2 + ( p z - S 234 a 4 ) - a 2 2 - a 3 2 ) / 2 a 2 a 3
S 3 = ± 1 - C 3 2
θ3=atan (S3/C3)
θ 2 = a t a n ( C 3 a 4 + a 2 ) ( p z - S 2 a 4 ) - S 3 a 3 ( p x C 1 + p y S 1 - C 234 a 4 ) ( C 3 a 4 + a 2 ) ( p x C 1 + p y S 1 - C 2 a 4 ) + S 3 a 3 ( p z - S 234 a 4 )
θ4=θ234-θ2-θ3
θ5=atan (C234(C1ax+S1ay)+S234az)/(S1ax-C1ay)
θ6=atan (-S234(C1nx+S1ny)+C234nz)/(-S234(C1ox+S1oy)+C234oz)
Wherein: θ 1 is joint 1 angle, θ 2 is joint 2 angle, and θ 3 is joint 3 angle, and θ 1 is joint 4 angles, θ 2 is joint 5 angle, and θ 3 is joint 6 angle.
Six axle articulated robot distributed control methods the most as claimed in claim 6, it is characterised in that meter After calculating θ 1, θ 2, θ 3, θ 4, θ 5, θ 6, robot is counter solves the computing module machinery ginseng according to user preset Number calculates the target location of corresponding each spindle motor, and these data are sent to local electronic cam by main website afterwards Module and communication control module, communication control module is made up of Communication processing program and communication interface hardware, After receiving that six axle multi-joints are counter and solving the data that computing module sends over, needed for converting the data into communication Form, is sent to the motor driver of correspondence, when each slave station has received positioning trip parameter by interface hardware And after generating cam curve, PTP command execution module starts virtual main shaft, starts to drive positioning trip.
CN201610370888.7A 2016-05-30 2016-05-30 Six-axis joint robot distributed control system and method Pending CN105929797A (en)

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CN109960220A (en) * 2017-12-26 2019-07-02 宁波菲仕电机技术有限公司 For building the servo-control system and its control method of brick making machine vibration table
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CN105223868A (en) * 2015-09-30 2016-01-06 深圳市微秒控制技术有限公司 A kind of robot distributed control system of Delta and control method
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CN107632593A (en) * 2017-10-12 2018-01-26 深圳市雷赛控制技术有限公司 A kind of control method and equipment of EtherCAT buses
CN109960220A (en) * 2017-12-26 2019-07-02 宁波菲仕电机技术有限公司 For building the servo-control system and its control method of brick making machine vibration table
CN108279630A (en) * 2018-01-29 2018-07-13 深圳市微秒控制技术有限公司 A kind of Distributed Motion Control System and method based on bus
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CN108170102B (en) * 2018-02-26 2020-12-01 湖南戈人自动化科技有限公司 Motion control system
CN111002306A (en) * 2019-11-15 2020-04-14 杭州项淮机械科技有限公司 Robot motion control method and control system based on electronic cam
CN111002306B (en) * 2019-11-15 2021-04-09 杭州项淮机械科技有限公司 Robot motion control method and control system based on electronic cam
CN111360795A (en) * 2020-03-31 2020-07-03 研祥智能科技股份有限公司 Control system and control method of six-degree-of-freedom parallel robot
CN113031479A (en) * 2021-03-09 2021-06-25 深圳市微秒控制技术有限公司 Motor positioning control system and method

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