郑时雄, 张勇. 球面SCARA机器人示教编程系统的研究[J]. 机器人, 1996, 18(6): 353-357..
ZHENG Shixiong, ZHANG Yong. STUDY ON A NEW TEACHING SYSTEM FOR SPERICAL SCARA ROBOT. ROBOT, 1996, 18(6): 353-357..
Abstract：In this paper,the structure,principle and error compensation of the new robot teaching system for spherical SCARA robot were introduced. lt is convenient for the system to record the shape of various curve and curved surface, and its image may be displayed on screen, the information of the object can be translated into joint variables of a robot through coordinate transformation. The system effectively solved the problems of teaching and playback, satisfied the need in practical application for the sperical SCARA robot. Because of its easy operation, high teaching accuracy,it is possible for the system to be applied to teaching and playback for other robot.
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