Kev siv neeg hlau yuav siv rau ntawm -}}}}}}}}}}}} site} site is yog cuam tshuam los ntawm qhov chaw siv hluav taws xob, uas txwv ntau ntawm cov neeg hlau tshaj tawm. Qhov no tuaj yeem ua rau muaj kev sib tw thiab kev xa tawm ntawm kev lag luam hlau thaum kawg kev ua haujlwm los tiv thaiv nws ntawm kev ua haujlwm ceev. Yog li ntawd, ntawm -}}}}}}}}}}}}}}}}}}}}}} kev debugging thiab calibration tom qab muab cov hlau muaj kev tsim khoom yog qhov tseem ceeb. Tshwj xeeb, kev debugging ua haujlwm tsuas yog suav nrog ob yam hauv qab no:
1. Xij ib lub axis ntawm cov neeg hlau: tom qab cov neeg hlau tawm hauv lub hoobkas, nws cov axes yuav tsis xoom. Yog tias cov neeg hlau zoo li no tau muab tso rau hauv kev sib tsoo ncaj qha, qhov nruab nrab ntawm lub ntiajteb txawj nqus ntawm txhua tus axis tej zaum yuav tsis muaj qhov ua rau TILTING thaum kev tsim khoom. Qhov no tsis yog cuam tshuam cov kev lag luam ib txwm tab sis kuj tseem yuav ua rau lub neej ntawm cov neeg ua haujlwm. Yog li ntawd, xo pes tsawg dua ib lub axis ntawm cov neeg siv khoom lag luam neeg hlau yog qhov tseem ceeb. Feem ntau, kev lag luam robots muaj xoom - rov qab cov cim rau ntawm txhua tus axis. Tsuas yog ua haujlwm txhua lub axis rov qab mus rau txoj haujlwm no qhia tias nws tau tshaj tawm. Tsis tas li ntawd, cov neeg hlau lub hauv paus feem ntau muaj cov cim taw qhia lub hauv paus chiv keeb ntawm txhua tus axis thiab cov ces sib piv rau 6 tus hneev; Cov no yog cov ntsiab lus tseem ceeb thaum debugging. Txawm li cas los xij, kev debugging yuav tsum tau tshawb xyuas raws li qhov chaw ib puag ncig thiab ua haujlwm ntawm tes. Piv txwv li, cov neeg ua haujlwm debugging tuaj yeem npaj cov kev ntsuas tsim nyog "
2. Cov teeb liab ua debugging ntawm cov neeg siv tub rog niaj hnub, txhim kho cov neeg hlau tuaj yeem ua haujlwm raws li cov ntsiab lus thiab cov txheej txheem siv dag ntxias. Piv txwv li, lawv tuaj yeem ua tiav cov kev txiav txim siab tau teev tseg los ntawm teeb liab cov lus txib raws li cov cim qhia, yog li nrawm yoog rau ib puag ncig tshiab. Muaj neeg hlau tshuab tsis siv hauv kev sib cais; Thaum lub sijhawm tsim khoom, lawv yuav tsum txuas nrog lwm cov khoom siv hluav taws xob. Lub cim los ntawm cov cuab yeej siv hluav taws xob no yuav tsum tau txuas nrog kev siv neeg hlau cov cim ntawm CC {}} txuas. Yog li ntawd, teeb liab ua thiab debugging ntawm cov neeg hlau muaj cov hlau yog ib kauj ruam tseem ceeb tom qab kev teeb tsa thiab ua ntej lawv muab tso rau hauv ntau lawm. Tshwj xeeb, thaum debugging, cc - Txuas cov chaw yuav tsum tau teeb tsa. Txawm li cas los xij, nws yog ib qho tseem ceeb kom nco ntsoov tias CC {{9} Tshaj tawm cov cim yuav tsum muaj raws li PCC qauv chaw, chaw nres tsheb qhev, thiab cov ntaub ntawv nres tsheb. Tom qab lub teeb liab teeb tau ua tiav, txhua cov cim taw qhia yuav tsum tau teev npe thiab tawm tswv yim thaum ua PLC cov kev pab cuam. Tsuas yog tom qab cov teeb liab debugging tuaj yeem muab tso rau hauv ntau lawm.
