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华强化工集团股份有限公司是一家大型多元化化肥生产企业,产品涵盖化肥、化工、热电、塑料制品、新型建材等五大领域10余个品种。在化肥生产、存储过程中,多个生产车间会使用到自动码垛设备——“机械手”(见图1)。自引进安装以来,“机械手”堆码的肥料以十万计。在长期的使用中,“机械手”经常因为操作不当或者其他原因,发生碰撞。它通过三维坐标系进行抓包定位,因此坐标位置的设定决定了手抓的运行轨迹。若工人在日常维护时将放包坐标不慎修改错
Huaqiang Chemical Group Co., Ltd. is a large-scale diversified fertilizer manufacturers, products covering more than 10 varieties of five major areas of chemical fertilizers, chemical, thermoelectric, plastic products, new building materials. In fertilizer production, storage process, multiple workshops will use automatic palletizing equipment - “manipulator ” (see Figure 1). Since the introduction of the installation, “Manipulator ” stacking fertilizer to 100,000. In the long-term use, “robot ” often because of improper operation or other reasons, the collision occurred. It is through the three-dimensional coordinate system for capture positioning, so the coordinates of the location of the decision to set the running track. If the workers in the routine maintenance package coordinates will be accidentally revised wrong