The robot wrist is used to adjust the orientation of the grasped object (ie posture), a rotary motion of the wrist must be met job requirements. Analysis of the degree of freedom of the wrist, the wrist were driving torque calculation, analysis programmable controller selection methods and working process.
through the use of single-chip microcomputer measurement CNC lathe cutting force, this paper focuses on the single chip microcomputer to implement continuous automatic sampling, A/D conversion, scale transformation and data processing methods. Introduces the principle of the measurement and control system, structure and data acquisition part of the program.
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