Manipulator grabbing position alignment control method
A control method and manipulator technology, which is applied in the field of parts processing, can solve problems such as parts falling off, poor reliability, and poor grasping, and achieve the effect of increasing reliability
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[0015] The present invention proposes a control method for manipulator grasping position alignment, comprising steps:
[0016] (1) A visual sensor is installed above the parts transport mechanism, the output end of the visual sensor is connected to the manipulator control system, and the collected part position information is sent to the manipulator control system in real time;
[0017] (2) Set up a speed sensor on the part transport mechanism, the output end of the speed sensor is connected to the manipulator control system, and the transport speed collected by the part transport mechanism is sent to the manipulator control system in real time; the transport speed of the part transport mechanism is the part to be grabbed speed of movement;
[0018] (3) The manipulator control system calculates the grabbing time and grabbing direction angle of the manipulator according to the part position information and the transport speed of the parts transport mechanism, and controls the m...
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