PLC control software is composed of multi-subprogram of traction mechanism, jack mechanism, circumrotating mechanism, radius-changing mechanism and touch panel.
其控制软件由行走机构、起升机构、旋转机构、变幅机构子程序和触摸屏监控子程序构成。
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The experiment results demonstrate that the algorithm is robust to the various illumination, dynamic disturbance and self-circumrotating, and can be used for robot location.
The method based on workpiece surface images either cannot be used for online inspection because of the difficulty to obtain images in high speed circumrotating of workpieces.