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一种呋咱类衍生物作为氮源的氮掺杂石墨烯的制备方法

成果领域:

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成果归属企业: 深圳大学

成果鉴定时间:

成果介绍

本发明公开了一种机械手末端工具标定的控制方法，其包括以下步骤：系统控制机械手运动并确保标志点位于拍摄视野内，系统记录下所述机械手法兰盘的位姿P1及所述标志点所在的空间位置；系统控制所述机械手绕第一空间轴旋转θ1角，并移动所述机械手，使得所述标志点的中心返回至所述标志点原来所在的空间位置P0，系统记录此时机械手法兰盘的位姿P2；系统控制所述机械手绕第二空间轴旋转θ2角，记录所述标志点在拍摄视野内的像素坐标(u1，v1)；并移动所述机械手，使得所述标志点的中心返回至所述标志点原来所在的空间位置P0；以及一种机械手末端工具标定的控制系统。本方案标定结果稳定，无人为误差，广泛应用于机械手控制领域。

成果应用案例介绍

日常用品>衣物饰品>机械手末端工装; 计算控制>控制方法>标定控制方法

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