Abstract
The low efficiency and inaccurateness always annoys the great hydraulic power station. This paper presents the constitution of the welding and grinding manipulator in order to repair hydraulic turbine guide vane, with the computer directly control and its hardware and software. It emphasizes on the control method based on the position/force control, and also includes the 3-D graphic, based on OpenGL and the data management with database.
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Wang, X.J., Zhang, Z.K. The Controller of the Grinding and Welding Manipulator. Weld World 49, 26–30 (2005). https://doi.org/10.1007/BF03266460
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DOI: https://doi.org/10.1007/BF03266460