WO2018072134A1 - Robot processing path automatic compensation method - Google Patents
Robot processing path automatic compensation method Download PDFInfo
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- WO2018072134A1 WO2018072134A1 PCT/CN2016/102548 CN2016102548W WO2018072134A1 WO 2018072134 A1 WO2018072134 A1 WO 2018072134A1 CN 2016102548 W CN2016102548 W CN 2016102548W WO 2018072134 A1 WO2018072134 A1 WO 2018072134A1
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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
- G05B19/408—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 characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4083—Adapting programme, configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- G05B19/404—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 characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36504—Adapt program to real coordinates, shape, dimension of tool, offset path
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
Definitions
- This invention relates to the field of robotics, and more particularly to a compensation method for robot automatic processing.
- Robotic machining has a very big potential market as a cost effective solution in many processes, such as polishing, deburring and grinding. Meanwhile, most machining processes have severe environment, and are harmful to human health. Today there is less and less people who is willing to work on those process manually.
- Robot now is successfully used in many industries, like automotive, food package and palletizing. But for machining area, there are still gaps which prevent robots from being deployed.
- Workpiece deformation is one of the gaps.
- Workpieces for machining are usually formed by casting, like sand casting. And those work pieces have typically individual difference, as shown in figure 1, which depends on mold design. With those individual differences, there is no robot path which can cover all work pieces in machining processes. So it is difficult to use robot in those specific processes.
- the present invention provides a robot processing path automatic compensation method.
- the method comprises defining a processing path according to the work object information; using a camera system as workpiece scanner to collect a workpiece deformation information and sending it to the robot; said camera system takes pictures or videos according to a camera path; calculating a compensation matrix according to the workpiece deformation information; and adjusting the processing path according to the compensation matrix.
- the processing path is defined in an offline tool, and it further comprises defining a base coordinate system; the processing path is created based on the base coordinate system according to the work object information.
- said camera path includes camera parameters, camera positions and camera orientation.
- said camera path is generated according to the calibrate features of a work object and the camera parameters.
- said calibrate features of a work object includes geometry features.
- said adjusting the processing path according to the compensation matrix includes pre-setting calibrate features for the base coordinate system in an offline model.
- adjusting the processing path according to the compensation matrix includes compensating the matrix to the base coordinate.
- the robot processing path automatic compensation method of the present invention is an auto-adaptive robot path correction solution. It is a new solution of online workpiece deformation analysis and robot path correction, and it fulfill the gap between robot and machining. Offline programming tool and online compensation system are included in the method of the present invention. With it, a pre-defined robot path can be used as basis, and then in the production line, the system can do dynamically analysis on the coming work piece, and correct the pre-defined path to adapt to work piece’s shape automatically.
- Fig. 1 shows some typical individual difference of the work pieces
- Fig. 2 is schematic view which shows the robot working with the processing path automatic compensation method of the present invention
- Fig. 3 shows the workflow of auto adaptive robot path correction system in the offline tool
- Fig. 4 shows the Path generation in offline tool
- Fig. 5 is the Online Compensation System workflow of the present invention.
- Fig. 6A-6C show an example of using the robot processing path automatic compensation method of the present invention.
- Fig. 2 is schematic view which shows the robot working with the processing path automatic compensation method of the present invention to process an object.
- the robot processing path automatic compensation method of the present invention comprises 1) defining a processing path according to the work object information; it further comprises; 2) using a camera system as workpiece scanner to collect a workpiece deformation information and sending it to the robot; said camera system takes pictures or videos according to a camera path; 3) calculating a compensation matrix according to the workpiece deformation information; and 4) adjusting the processing path according to the compensation matrix.
- the robot processing path automatic compensation system of the present invention includes two parts: I) Offline programming tool, and II) Online compensation system
- the processing path is defined in an offline tool.
- Fig. 3 shows the workflow of auto adaptive robot path correction system in the offline tool. It defines a base coordinate system. The processing path is created based on the base coordinate system according to the work object information.
- camera is involved for path compensation.
- the method uses camera to check every workpiece on production line, to solve the problem of individual deformation.
- the camera path includes camera parameters, camera positions and camera orientation, and it is generated according to the calibrate features of a work object and the camera parameters.
- the camera path is generated offline.
- the robot processing path automatic compensation method of the present invention includes a camera scanning system, traditionally its path is made online, manually, but in the automatic compensation method of the present invention, the movement is generated when doing offline programming regarding the machining process.
- the offline program tool is a PC based software which is responsible to generate process path (for machining) and camera path (for scanning work object) .
- Current offline tool usually is only responsible to generate process path, but in this system, camera is involved to scan the work piece and do path correction work, so camera path is also needed.
- process path generation the processes are just like common CAM procedures, users pick desired geometry features and input associated process parameters (non-process move setting, target configuration and so on) , then the geometry algorithm is performed, process path can be output to robot code and drive the robot.
- 3D camera follows camera path and is used to capture pictures from real work piece which is waiting to be machined. Based on those pictures, online compensation system analyses deformation of the geometry features and output a matrix which include both translation and rotation to do path compensation in real time.
- the camera path is also generated in the offline program tool. Since the mapping relationship between geometry feature and calibrate feature is built in very beginning (shown in dash line) , so that the compensation matrix (got by camera path) can be applied to associated process path correctly.
- a process path is Created based on each geometry features, as shown in dash curves, these process path are based on Base1 and Base2 respectively;
- a camera path for picture capturing is generated based on the calibrate features and camera parameters.
- Camera path is get by the following steps. Calculate gravity centre of each feature, and then get a gravity centre of all calibrate features, position the camera above the gravity centre; make sure the camera covers as more features as possible; use inverse kinematics to calculate the joint values which form the joint moves as camera path.
- 4 paths are generated from the offline program tool. They are a) Base1_ProcessPath, b) Base0_CameraPath, c) Base2_ProcessPath and d) Base0_CameraPath.
- the camera path is relative to base0 which represents the robot base coordinate and will drive the robot to picture capturing position.
- adjusting the processing path according to the compensation matrix includes pre-setting calibrate features for the base coordinate system in an offline model.
- the Online Compensation System is a hardware/software toolkit which includes lights, camera and software.
- the input of online compensation system is the path generated by offline tool, and the workflow schema is shown in figure 5.
- the online compensation system firstly executes camera path and try to capture pictures for calibrate features
- pictures or videos taken by camera system are processed by using picture processing algorithm libraries, for example common algorithm libraries like Halcon, to calculate the compensation matrix.
- picture processing algorithm libraries for example common algorithm libraries like Halcon
- Geometry feature for generating processing path
- the camera will scan each workpiece and capture pictures for the calibrate feature.
- a compensation matrix is calculated to solve the offset finally.
- the compensation matrix is apply to idea base, and the actual base is got. Since processing path is based on Base coordinate, it also gets the compensation through their base.
- the robot processing path automatic compensation method of the present invention is highly automated. Both process path and camera path are generated offline, without any manual teaching work, it should be very efficient. It solve individual deformation problem in production. By using camera system as workpiece scanner, the program workflow now get closed, and can response to individual difference smoothly.
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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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A robot processing path automatic compensation method comprises defining a processing path according to the work object information; using a camera system as workpiece scanner to collect a workpiece deformation information and sending it to the robot; said camera system takes pictures or videos according to a camera path; calculating a compensation matrix according to the workpiece deformation information; and adjusting the processing path according to the compensation matrix. The processing path is defined in an offline tool, and it further comprises defining a base coordinate system; the processing path is created based on the base coordinate system according to the work object information. The processing path is adjusted by compensating the matrix to the base coordinate. The work object information includes the calibrate features which further includes geometry features.
Description
This invention relates to the field of robotics, and more particularly to a compensation method for robot automatic processing.
Robotic machining has a very big potential market as a cost effective solution in many processes, such as polishing, deburring and grinding. Meanwhile, most machining processes have severe environment, and are harmful to human health. Nowadays there is less and less people who is willing to work on those process manually.
Robot now is successfully used in many industries, like automotive, food package and palletizing. But for machining area, there are still gaps which prevent robots from being deployed.
Workpiece deformation is one of the gaps. Workpieces for machining are usually formed by casting, like sand casting. And those work pieces have typically individual difference, as shown in figure 1, which depends on mold design. With those individual differences, there is no robot path which can cover all work pieces in machining processes. So it is difficult to use robot in those specific processes.
SUMMARY OF THE INVENTION
The present invention provides a robot processing path automatic compensation method. The method comprises defining a processing path according to the work object information； using a camera system as workpiece scanner to collect a workpiece deformation information and sending it to the robot； said camera system takes pictures or videos according to a camera path； calculating a compensation matrix according to the workpiece deformation information； and adjusting the processing path according to the compensation matrix.
According to a preferred embodiment, the processing path is defined in an offline tool, and it further comprises defining a base coordinate system； the processing path is created based on the base coordinate system according to the work object information.
According to a preferred embodiment, said camera path includes camera parameters, camera positions and camera orientation.
According to a preferred embodiment, said camera path is generated according to the calibrate features of a work object and the camera parameters.
According to a preferred embodiment, said calibrate features of a work object includes geometry features.
According to a preferred embodiment, wherein a relationship of the base coordinate system and calibrate features is built internally.
According to a preferred embodiment, wherein， the pictures or videos taken by camera system are processed by using picture processing algorithm libraries to calculate the compensation matrix.
According to a preferred embodiment, wherein said adjusting the processing path according to the compensation matrix includes pre-setting calibrate features for the base coordinate system in an offline model.
According to a preferred embodiment, wherein adjusting the processing path according to the compensation matrix includes compensating the matrix to the base coordinate.
The robot processing path automatic compensation method of the present invention is an auto-adaptive robot path correction solution. It is a new solution of online workpiece deformation analysis and robot path correction, and it fulfill the gap between robot and machining. Offline programming tool and online compensation system are included in the method of the present invention. With it, a pre-defined robot path can be used as basis, and then in the production line, the system can do dynamically analysis on the coming work piece, and correct the pre-defined path to adapt to work piece’s shape automatically.
The subject matter of the invention will be explained in more details in the following description with reference to preferred exemplary embodiments which are illustrated in the drawings, in which:
Fig. 1 shows some typical individual difference of the work pieces；
Fig. 2 is schematic view which shows the robot working with the processing path automatic compensation method of the present invention；
Fig. 3 shows the workflow of auto adaptive robot path correction system in the offline tool；
Fig. 4 shows the Path generation in offline tool；
Fig. 5 is the Online Compensation System workflow of the present invention；
Fig. 6A-6C show an example of using the robot processing path automatic compensation method of the present invention.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
With reference to the above-mentioned figures, a preferred embodiment of the present invention is provided.
Fig. 2 is schematic view which shows the robot working with the processing path automatic compensation method of the present invention to process an object. The robot processing path automatic compensation method of the present invention comprises 1) defining a processing path according to the work object information； it further comprises； 2) using a camera system as workpiece scanner to collect a workpiece deformation information and sending it to the robot； said camera system takes pictures or videos according to a camera path； 3) calculating a compensation matrix according to the workpiece deformation information； and 4) adjusting the processing path according to the compensation matrix.
The robot processing path automatic compensation system of the present invention includes two parts: I) Offline programming tool, and II) Online compensation system
I) Offline Programming Tool
The processing path is defined in an offline tool. Fig. 3 shows the workflow of auto adaptive robot path correction system in the offline tool. It defines a base coordinate system. The processing path is created based on the base coordinate system according to the work object information.
According to the present invention, camera is involved for path compensation. The method uses camera to check every workpiece on production line, to solve the problem of individual deformation. The camera path includes camera parameters, camera positions and camera orientation, and it is generated according to the calibrate features of a work object and the camera parameters.
The calibration relationship is setup in offline tool. Users pick calibrate feature for each base coordinate, and a relationship is built internally, which will be included in robot code, the online compensation system then knows each compensation matrix maps to which base coordinate. The calibrate features of a work object includes such as geometry features.
The camera path is generated offline. The robot processing path automatic compensation method of the present invention includes a camera scanning system, traditionally its path is made online, manually, but in the automatic compensation method of the present invention, the movement is generated when doing offline programming regarding the machining process.
The offline program tool is a PC based software which is responsible to generate process path (for machining) and camera path (for scanning work object) . Current offline tool usually is only responsible to generate process path, but in this system, camera is involved to scan the work piece and do path correction work, so camera path is also needed.
For process path generation, the processes are just like common CAM procedures, users pick desired geometry features and input associated process parameters (non-process move setting, target configuration and so on) , then the geometry algorithm is performed, process path can be output to robot code and drive the robot.
In the automatic compensation method of the present invention, 3D camera follows camera path and is used to capture pictures from real work piece which is waiting to be machined. Based on those pictures, online compensation system analyses deformation of the geometry features and output a matrix which include both translation and rotation to do path compensation in real time. The camera path is also generated in the offline program tool. Since the mapping relationship between geometry feature and calibrate feature is built in very beginning (shown in dash line) , so that the compensation matrix (got by camera path) can be applied to associated process path correctly.
Fig. 3 shows the workflow of auto adaptive robot path correction system in the offline tool. The workflow in the offline tool will be described in more detailed by taken an example. Suppose there is a workpiece with geometry features as shown in Figure 4, then in the offline program tool:
· Base coordinate system are defined as Base1 and Base2, since all geometry features are grouped in two groups, in each group, it is assumed that the deformation of all features are the same；
· A process path is Created based on each geometry features, as shown in dash curves, these process path are based on Base1 and Base2 respectively；
· Calibrate features are specified for each group, the relationship of the base coordinate system and calibrate features is built internally；
· Camera parameters, include camera position, are specified；
· A camera path for picture capturing is generated based on the calibrate features and camera parameters.
Camera path is get by the following steps. Calculate gravity centre of each feature, and then get a gravity centre of all calibrate features, position the camera above the gravity centre； make sure the camera covers as more features as possible； use inverse kinematics to calculate the joint values which form the joint moves as camera path.
In the above mentioned example, 4 paths are generated from the offline program tool. They are a) Base1_ProcessPath, b) Base0_CameraPath, c) Base2_ProcessPath and d) Base0_CameraPath.
The camera path is relative to base0 which represents the robot base coordinate and will drive the robot to picture capturing position.
According to a preferred embodiment of the present invention, adjusting the processing path according to the compensation matrix includes pre-setting calibrate features for the base coordinate system in an offline model.
II) Online Compensation System
The Online Compensation System is a hardware/software toolkit which includes lights, camera and software. The input of online compensation system is the path generated by offline tool, and the workflow schema is shown in figure 5.
Based on the path generated from offline tool, the online compensation system firstly executes camera path and try to capture pictures for calibrate features；
Wherein the pictures or videos taken by camera system are processed by using picture processing algorithm libraries, for example common algorithm libraries like Halcon, to calculate the compensation matrix.
Compensate the matrix to process path base coordinate, then all path which is based on the specific base obtain the compensation. Adjusting the processing path according to the compensation matrix includes compensating the matrix to the base coordinate.
EXAMPLE OF HANDLING AN OBJECT
The following is a model of cell phone shell. As shown in Figure 6A, there are two holes on the surfaces which is pending for machining. A Base coordinate is created on the shell surface.
In offline programming tool, the following are specified as shown in Figure 6B
a. Geometry feature (for generating processing path)
b. Calibrate features
Then the relationship was built internally in exported code
a. Processing path is built based on Base coordinate
b. Relationship between Base coordinate and calibrate feature
In online processes, the camera will scan each workpiece and capture pictures for the calibrate feature. According to the calibrate feature, a compensation matrix is calculated to solve the offset finally. As shown in Figure 6C, the compensation matrix is apply to idea base, and the actual base is got. Since processing path is based on Base coordinate, it also gets the compensation through their base.
Business benefits of the present invention
The robot processing path automatic compensation method of the present invention is highly automated. Both process path and camera path are generated offline, without any manual teaching work, it should be very efficient. It solve individual deformation problem in production. By using camera system as workpiece scanner, the program workflow now get closed, and can response to individual difference smoothly.
For each coming workpiece in production line, above online check workflow is performed, and for the workpieces which have individual differences, the difference can be compensated by the method, then the process path generated by offline tool can be applied to every workpiece smoothly.
Though the present invention has been described on the basis of some preferred embodiments, those skilled in the art should appreciate that those embodiments should by no means limit the scope of the present invention. Without departing from the spirit and concept of the present invention, any variations and modifications to the embodiments should be within the apprehension of those with ordinary knowledge and skills in the art, and therefore fall in the scope of the present invention which is defined by the accompanied claims.
Claims (9)
- A robot processing path automatic compensation method, comprisingdefining a processing path according to the work object information； wherein, it further comprisesusing a camera system as workpiece scanner to collect a workpiece deformation information and sending it to the robot； said camera system takes pictures or videos according to a camera path；calculating a compensation matrix according to the workpiece deformation information； andadjusting the processing path according to the compensation matrix.
- A robot processing path automatic compensation method according to claim 1, wherein the processing path is defined in an offline tool, and it further comprises defining a base coordinate system； the processing path is created based on the base coordinate system according to the work object information.
- A robot processing path automatic compensation method according to claim 2, wherein said camera path includes camera parameters, camera positions and camera orientation.
- A robot processing path automatic compensation method according to claim 3, wherein said camera path is generated according to the calibrate features of a work object and the camera parameters.
- A robot processing path automatic compensation method according to claim 4, wherein said calibrate features of a work object includes geometry features.
- A robot processing path automatic compensation method according to claim 4, wherein a relationship of the base coordinate system and calibrate features is built internally.
- A robot processing path automatic compensation method according to anyone of claims 1-6, wherein the pictures or videos taken by camera system are processed by using picture processing algorithm libraries to calculate the compensation matrix.
- A robot processing path automatic compensation method according to anyone of claims 1-6, wherein said adjusting the processing path according to the compensation matrix includes pre-setting calibrate features for the base coordinate system in an offline model.
- A robot processing path automatic compensation method according to claim 2, wherein adjusting the processing path according to the compensation matrix includes compensating the matrix to the base coordinate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/102548 WO2018072134A1 (en) | 2016-10-19 | 2016-10-19 | Robot processing path automatic compensation method |
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2016/102548 WO2018072134A1 (en) | 2016-10-19 | 2016-10-19 | Robot processing path automatic compensation method |
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| WO2018072134A1 true WO2018072134A1 (en) | 2018-04-26 |
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| PCT/CN2016/102548 Ceased WO2018072134A1 (en) | 2016-10-19 | 2016-10-19 | Robot processing path automatic compensation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113304971A (en) * | 2021-04-26 | 2021-08-27 | 深圳市世宗自动化设备有限公司 | 3D dynamic guiding dispensing compensation method, device and equipment and storage medium thereof |
| CN119526276A (en) * | 2025-01-22 | 2025-02-28 | 浙江安统汽车部件有限公司 | A Grinding Control System for Automobile Parts |
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| US20030200042A1 (en) * | 2002-04-19 | 2003-10-23 | Abb Ab | In-process relative robot workcell calibration |
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| CN102476326A (en) * | 2010-11-23 | 2012-05-30 | 大连创达技术交易市场有限公司 | Optical-assisted ultra-precision machining method |
| CN105252341A (en) * | 2015-09-02 | 2016-01-20 | 大连理工大学 | Dynamic error vision measurement method for five-axis numerical control machine tool |
| CN105643092A (en) * | 2014-11-13 | 2016-06-08 | 大族激光科技产业集团股份有限公司 | Method for regaining coordinates of workpiece through CCD during combined machining |
| CN205437784U (en) * | 2015-12-29 | 2016-08-10 | 上海发那科机器人有限公司 | Automatic brill system of milling and brill mill production line |
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2016
- 2016-10-19 WO PCT/CN2016/102548 patent/WO2018072134A1/en not_active Ceased
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|---|---|---|---|---|
| EP0361663A2 (en) * | 1988-09-26 | 1990-04-04 | Ford Motor Company Limited | Method and system for a robot path |
| US20030200042A1 (en) * | 2002-04-19 | 2003-10-23 | Abb Ab | In-process relative robot workcell calibration |
| CN1734379A (en) * | 2004-08-02 | 2006-02-15 | 发那科株式会社 | Processing program generating device |
| CN101493682A (en) * | 2008-01-23 | 2009-07-29 | 发那科株式会社 | Generating device of processing robot program |
| CN102476326A (en) * | 2010-11-23 | 2012-05-30 | 大连创达技术交易市场有限公司 | Optical-assisted ultra-precision machining method |
| CN105643092A (en) * | 2014-11-13 | 2016-06-08 | 大族激光科技产业集团股份有限公司 | Method for regaining coordinates of workpiece through CCD during combined machining |
| CN105252341A (en) * | 2015-09-02 | 2016-01-20 | 大连理工大学 | Dynamic error vision measurement method for five-axis numerical control machine tool |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113304971A (en) * | 2021-04-26 | 2021-08-27 | 深圳市世宗自动化设备有限公司 | 3D dynamic guiding dispensing compensation method, device and equipment and storage medium thereof |
| CN113304971B (en) * | 2021-04-26 | 2022-12-13 | 深圳市世宗自动化设备有限公司 | 3D dynamic guiding dispensing compensation method, device and equipment and storage medium thereof |
| CN119526276A (en) * | 2025-01-22 | 2025-02-28 | 浙江安统汽车部件有限公司 | A Grinding Control System for Automobile Parts |
| CN119526276B (en) * | 2025-01-22 | 2025-04-25 | 浙江安统汽车部件有限公司 | A Grinding Control System for Automobile Parts |
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