The task of the surgical robot for jaw reconstruction is to complete the accurate and stable lifting and positioning of the restoration implant, and the continuous trajectory of its space is not high. Therefore, joint space is used for trajectory planning. The task of mandible reconstruction robot is to set the constraint of trajectory function at the beginning and the end. There is no mandatory requirement for the middle path. Therefore, the PTP (point to point) method with middle point is chosen. The middle point needed by PTP is far less than CP (continuous path), and it does not need frequent interpolation. The calculation avoids the singular position on the continuous trajectory, improves the safety and real-time of the robot control, and the reasonable selection of the middle point is also conducive to the realization of collision avoidance between the arms.
In the application process of industrial robots, it is necessary to ensure that the home position is correct when the robot changes the end tool, so that the coordinate values of tool can be calculated more accurately and the accuracy of the robot’s trajectory can be satisfied. A comprehensive calibration method of tool coordinates and home position of serial industrial robots based on fixed-point constraints is presented in this paper. Based on Denavit-Hartenberg (D-H) kinematics theory, the error models of tool coordinates and home position errors of 6-DOF serial industrial robots are established. By constraining the tool center point (TCP) of the robot with fixed points, the joint data of calibration points with different postures at the same position are collected, and the error value of the controlled object is identified by the least square algorithm. The calibration experiment results are basically consistent with the factory calibration parameters, which proves the feasibility of the calibration algorithm.
With the development of the industrialization of buildings, the demand for wallboard is increasing. The development of wallboard automatic production lines can solve the problems of low efficiency and low automation in the production process of wallboard. In the paper, the insufficient of the method that wall panel length detection in JGT169-2016 is considered, the automatic measurement system and cutting surface flatness analysis experiment is designed. Using MATLAB to filter and fit data. Optimize the cutting speed of wallboard based on LJQB-JX-600-QGJ.01 cutting machine. Through experimental analysis, better control parameters are selected for production control, and the quality of production wallboard is further improved, thereby improving the quality of the production line.
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