{"id":9741,"date":"2026-09-05T09:16:30","date_gmt":"2026-09-05T02:16:30","guid":{"rendered":"https:\/\/swoer.vn\/?p=9741"},"modified":"2026-09-05T09:16:30","modified_gmt":"2026-09-05T02:16:30","slug":"cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen","status":"publish","type":"post","link":"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/","title":{"rendered":"C\u00e1ch kh\u1eafc ph\u1ee5c l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n chi ti\u1ebft"},"content":{"rendered":"<p><i><span style=\"font-weight: 400;\">Robot nh\u1ec7n (Delta Robot) l\u00e0 tr\u00e1i tim c\u1ee7a c\u00e1c d\u00e2y chuy\u1ec1n g\u1eafp \u0111\u00f3ng g\u00f3i t\u1ed1c \u0111\u1ed9 cao. Tuy nhi\u00ean, s\u1ef1 c\u1ed1 g\u1eafp h\u1ee5t ph\u00f4i ho\u1eb7c g\u1eafp ch\u1ec7ch t\u00e2m th\u01b0\u1eddng xuy\u00ean di\u1ec5n ra.<\/span><\/i><\/p>\n<p><i><span style=\"font-weight: 400;\">Hi\u1ec7n t\u01b0\u1ee3ng n\u00e0y l\u00e0m r\u1edbt s\u1ea3n ph\u1ea9m, m\u00f3p m\u00e9o v\u1ecf h\u1ed9p v\u00e0 gi\u00e1n \u0111o\u1ea1n d\u00e2y chuy\u1ec1n. Vi\u1ec7c x\u1eed l\u00fd nhanh s\u1ef1 c\u1ed1 gi\u00fap nh\u00e0 m\u00e1y ti\u1ebft ki\u1ec7m r\u1ea5t nhi\u1ec1u chi ph\u00ed d\u1eebng m\u00e1y.<\/span><\/i><\/p>\n<p><i><span style=\"font-weight: 400;\">N\u1eafm v\u1eefng <\/span><\/i><b><i>c\u00e1ch kh\u1eafc ph\u1ee5c l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n<\/i><\/b><i><span style=\"font-weight: 400;\"> gi\u00fap \u0111\u1ed9i ng\u0169 b\u1ea3o tr\u00ec l\u00e0m ch\u1ee7 c\u00f4ng ngh\u1ec7. B\u00e0i vi\u1ebft n\u00e0y <\/span><\/i><a href=\"https:\/\/swoer.vn\/th\/contact\/\"><b><i>\u0e2a\u0e27\u0e2d\u0e40\u0e2d\u0e2d\u0e23\u0e4c<\/i><\/b><\/a><i><span style=\"font-weight: 400;\"> s\u1ebd ph\u00e2n t\u00edch nguy\u00ean nh\u00e2n c\u1ed1t l\u00f5i v\u00e0 h\u01b0\u1edbng d\u1eabn quy tr\u00ecnh c\u0103n ch\u1ec9nh chu\u1ea9n k\u1ef9 thu\u1eadt.<\/span><\/i><\/p>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_82_2 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u0e2a\u0e32\u0e23\u0e1a\u0e31\u0e0d<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"\u0e2a\u0e25\u0e31\u0e1a\u0e2a\u0e32\u0e23\u0e1a\u0e31\u0e0d\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">\u0e2a\u0e25\u0e31\u0e1a<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewbox=\"0 0 24 24\" version=\"1.2\" baseprofile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Dau_hieu_loi_lech_toa_do_gap_cua_Robot_Nhen\" >D\u1ea5u hi\u1ec7u l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Nguyen_nhan_khien_Robot_Nhen_bi_lech_toa_do_gap\" >Nguy\u00ean nh\u00e2n khi\u1ebfn Robot Nh\u1ec7n b\u1ecb l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Loi_he_thong_Vision_AI\" >L\u1ed7i h\u1ec7 th\u1ed1ng Vision AI<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Loi_Encoder_dong_bo_bang_tai_Conveyor_Tracking\" >L\u1ed7i Encoder \u0111\u1ed3ng b\u1ed9 b\u0103ng t\u1ea3i (Conveyor Tracking)<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Loi_co_khi_tay_gap_End-Effector\" >L\u1ed7i c\u01a1 kh\u00ed &amp; tay g\u1eafp (End-Effector)<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Mat_toa_do_goc_Home_Position\" >M\u1ea5t t\u1ecda \u0111\u1ed9 g\u1ed1c (Home Position)<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Cach_khac_phuc_loi_lech_toa_do_gap_cua_Robot_Nhen_theo_quy_trinh\" >C\u00e1ch kh\u1eafc ph\u1ee5c l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n theo quy tr\u00ecnh<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Buoc_1_Kiem_tra_co_khi_va_tay_gap\" >B\u01b0\u1edbc 1: Ki\u1ec3m tra c\u01a1 kh\u00ed v\u00e0 tay g\u1eafp<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Buoc_2_Calib_lai_he_thong_Vision_AI\" >B\u01b0\u1edbc 2: Calib l\u1ea1i h\u1ec7 th\u1ed1ng Vision AI<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Buoc_3_Can_chinh_Encoder_bang_tai\" >B\u01b0\u1edbc 3: C\u0103n ch\u1ec9nh Encoder b\u0103ng t\u1ea3i<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Buoc_4_Nhap_khoang_bu_toa_do_Offset_Fine-Tuning\" >B\u01b0\u1edbc 4: Nh\u1eadp kho\u1ea3ng b\u00f9 t\u1ecda \u0111\u1ed9 (Offset Fine-Tuning)<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Meo_han_che_loi_lech_toa_do_gap_dai_han\" >M\u1eb9o h\u1ea1n ch\u1ebf l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp d\u00e0i h\u1ea1n<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Ket_luan\" >\u0e2a\u0e23\u0e38\u0e1b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/swoer.vn\/th\/cach-khac-phuc-loi-lech-toa-do-gap-cua-robot-nhen\/#Lien_he_voi_chung_toi\" >\u0e15\u0e34\u0e14\u0e15\u0e48\u0e2d\u0e40\u0e23\u0e32<\/a><\/li><\/ul><\/nav><\/div>\n<h2><span class=\"ez-toc-section\" id=\"Dau_hieu_loi_lech_toa_do_gap_cua_Robot_Nhen\"><\/span><span style=\"font-weight: 400;\">D\u1ea5u hi\u1ec7u l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">Tr\u01b0\u1edbc khi x\u1eed l\u00fd, k\u1ef9 s\u01b0 c\u1ea7n khoanh v\u00f9ng d\u1ea1ng sai s\u1ed1 th\u1ef1c t\u1ebf t\u1ea1i x\u01b0\u1edfng:<\/span><\/p>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>L\u1ec7ch c\u1ed1 \u0111\u1ecbnh (Fixed Offset):<\/b><span style=\"font-weight: 400;\"> Robot lu\u00f4n g\u1eafp l\u1ec7ch m\u1ed9t kho\u1ea3ng (\u03b1 X, \u03b1 Y) ho\u1eb7c xoay sai m\u1ed9t g\u00f3c c\u1ed1 \u0111\u1ecbnh so v\u1edbi t\u00e2m ph\u00f4i.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>L\u1ec7ch ng\u1eabu nhi\u00ean (Random Misalignment):<\/b><span style=\"font-weight: 400;\"> S\u1ea3n ph\u1ea9m g\u1eafp tr\u00fang, s\u1ea3n ph\u1ea9m g\u1eafp tr\u01b0\u1ee3t m\u00e0 kh\u00f4ng theo quy lu\u1eadt.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>L\u1ec7ch theo t\u1ed1c \u0111\u1ed9 b\u0103ng t\u1ea3i:<\/b><span style=\"font-weight: 400;\"> B\u0103ng t\u1ea3i ch\u1ea1y ch\u1eadm th\u00ec g\u1eafp chu\u1ea9n, b\u0103ng t\u1ea3i t\u0103ng t\u1ed1c th\u00ec \u0111i\u1ec3m g\u1eafp b\u1ecb tr\u00f4i v\u1ec1 ph\u00eda sau.<\/span><\/li>\n<\/ul>\n<figure id=\"attachment_9743\" aria-describedby=\"caption-attachment-9743\" style=\"width: 1366px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-9743 size-full\" src=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Dau-hieu-loi-lech-toa-do-gap-cua-Robot-Nhen.png\" alt=\"D\u1ea5u hi\u1ec7u l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n\" width=\"1366\" height=\"768\" title=\"\" srcset=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Dau-hieu-loi-lech-toa-do-gap-cua-Robot-Nhen.png 1366w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Dau-hieu-loi-lech-toa-do-gap-cua-Robot-Nhen-300x169.png 300w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Dau-hieu-loi-lech-toa-do-gap-cua-Robot-Nhen-1024x576.png 1024w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Dau-hieu-loi-lech-toa-do-gap-cua-Robot-Nhen-768x432.png 768w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Dau-hieu-loi-lech-toa-do-gap-cua-Robot-Nhen-18x10.png 18w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Dau-hieu-loi-lech-toa-do-gap-cua-Robot-Nhen-600x337.png 600w\" sizes=\"auto, (max-width: 1366px) 100vw, 1366px\" \/><figcaption id=\"caption-attachment-9743\" class=\"wp-caption-text\">D\u1ea5u hi\u1ec7u l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n<\/figcaption><\/figure>\n<h2><span class=\"ez-toc-section\" id=\"Nguyen_nhan_khien_Robot_Nhen_bi_lech_toa_do_gap\"><\/span><span style=\"font-weight: 400;\">Nguy\u00ean nh\u00e2n khi\u1ebfn Robot Nh\u1ec7n b\u1ecb l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">S\u1ef1 c\u1ed1 l\u1ec7ch \u0111i\u1ec3m g\u1eafp th\u01b0\u1eddng \u0111\u1ebfn t\u1eeb 4 nh\u00f3m nguy\u00ean nh\u00e2n ch\u00ednh:<\/span><\/p>\n<h3><span class=\"ez-toc-section\" id=\"Loi_he_thong_Vision_AI\"><\/span><span style=\"font-weight: 400;\">L\u1ed7i h\u1ec7 th\u1ed1ng Vision AI<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Camera b\u1ecb rung l\u1eafc ho\u1eb7c bi\u1ebfn d\u1ea1ng ti\u00eau c\u1ef1 g\u00e1 k\u1eb9p.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">\u00c1nh s\u00e1ng m\u00f4i tr\u01b0\u1eddng thay \u0111\u1ed5i l\u00e0m nhi\u1ec5u thu\u1eadt to\u00e1n nh\u1eadn di\u1ec7n bi\u00ean d\u1ea1ng ph\u00f4i.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">M\u1ea5t hi\u1ec7u chu\u1ea9n l\u01b0\u1edbi t\u1ecda \u0111\u1ed9 gi\u1eefa Camera v\u00e0 Robot.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Loi_Encoder_dong_bo_bang_tai_Conveyor_Tracking\"><\/span><span style=\"font-weight: 400;\">L\u1ed7i Encoder \u0111\u1ed3ng b\u1ed9 b\u0103ng t\u1ea3i (Conveyor Tracking)<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Encoder \u0111o t\u1ed1c \u0111\u1ed9 b\u0103ng t\u1ea3i b\u1ecb tr\u01b0\u1ee3t b\u00e1nh xe, \u0111\u1ee9t xung ho\u1eb7c d\u00ednh d\u1ea7u m\u1ee1.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">B\u0103ng t\u1ea3i b\u1ecb gi\u00e3n, rung gi\u1eadt ho\u1eb7c ch\u1ea1y kh\u00f4ng \u0111\u1ec1u t\u1ed1c \u0111\u1ed9.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Loi_co_khi_tay_gap_End-Effector\"><\/span><span style=\"font-weight: 400;\">L\u1ed7i c\u01a1 kh\u00ed &amp; tay g\u1eafp (End-Effector)<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">C\u1ee5m kh\u1edbp n\u1ed1i song song (<\/span><i><span style=\"font-weight: 400;\">Parallel Arms<\/span><\/i><span style=\"font-weight: 400;\">) b\u1ecb m\u00f2n ho\u1eb7c r\u01a1 l\u1eafc sau th\u1eddi gian d\u00e0i.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Tay g\u1eafp ch\u00e2n kh\u00f4ng (Suction Cup) b\u1ecb r\u00e1ch, x\u1ec7 g\u00f3c ho\u1eb7c t\u1ee5t \u00e1p su\u1ea5t kh\u00ed n\u00e9n.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Mat_toa_do_goc_Home_Position\"><\/span><span style=\"font-weight: 400;\">M\u1ea5t t\u1ecda \u0111\u1ed9 g\u1ed1c (Home Position)<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Robot b\u1ecb l\u1ec7ch g\u1ed1c t\u1ecda \u0111\u1ed9 sau khi va ch\u1ea1m c\u01a1 kh\u00ed ho\u1eb7c m\u1ea5t \u0111i\u1ec7n \u0111\u1ed9t ng\u1ed9t.<\/span><\/li>\n<\/ul>\n<figure id=\"attachment_9744\" aria-describedby=\"caption-attachment-9744\" style=\"width: 1366px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-9744 size-full\" src=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Nguyen-nhan-khien-Robot-Nhen-bi-lech-toa-do-gap.png\" alt=\"Nguy\u00ean nh\u00e2n khi\u1ebfn Robot Nh\u1ec7n b\u1ecb l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp\" width=\"1366\" height=\"768\" title=\"\" srcset=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Nguyen-nhan-khien-Robot-Nhen-bi-lech-toa-do-gap.png 1366w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Nguyen-nhan-khien-Robot-Nhen-bi-lech-toa-do-gap-300x169.png 300w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Nguyen-nhan-khien-Robot-Nhen-bi-lech-toa-do-gap-1024x576.png 1024w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Nguyen-nhan-khien-Robot-Nhen-bi-lech-toa-do-gap-768x432.png 768w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Nguyen-nhan-khien-Robot-Nhen-bi-lech-toa-do-gap-18x10.png 18w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Nguyen-nhan-khien-Robot-Nhen-bi-lech-toa-do-gap-600x337.png 600w\" sizes=\"auto, (max-width: 1366px) 100vw, 1366px\" \/><figcaption id=\"caption-attachment-9744\" class=\"wp-caption-text\">Nguy\u00ean nh\u00e2n khi\u1ebfn Robot Nh\u1ec7n b\u1ecb l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp<\/figcaption><\/figure>\n<h2><span class=\"ez-toc-section\" id=\"Cach_khac_phuc_loi_lech_toa_do_gap_cua_Robot_Nhen_theo_quy_trinh\"><\/span><span style=\"font-weight: 400;\">C\u00e1ch kh\u1eafc ph\u1ee5c l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n theo quy tr\u00ecnh<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">K\u1ef9 s\u01b0 v\u1eadn h\u00e0nh c\u00f3 th\u1ec3 x\u1eed l\u00fd s\u1ef1 c\u1ed1 theo 4 b\u01b0\u1edbc ti\u00eau chu\u1ea9n sau:<\/span><\/p>\n<h3><span class=\"ez-toc-section\" id=\"Buoc_1_Kiem_tra_co_khi_va_tay_gap\"><\/span><span style=\"font-weight: 400;\">B\u01b0\u1edbc 1: Ki\u1ec3m tra c\u01a1 kh\u00ed v\u00e0 tay g\u1eafp<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Si\u1ebft ch\u1eb7t g\u00e1 k\u1eb9p tay g\u1eafp v\u00e0 ki\u1ec3m tra \u0111\u1ed9 r\u01a1 c\u1ee7a c\u00e1c kh\u1edbp c\u1ea7u song song.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Thay m\u1edbi n\u00fam h\u00fat ch\u00e2n kh\u00f4ng ho\u1eb7c k\u1eb9p m\u1ec1m n\u1ebfu b\u1ecb m\u00f2n h\u1ecfng.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Set l\u1ea1i g\u1ed1c t\u1ecda \u0111\u1ed9 Zero\/Home Position cho 3 c\u00e1nh tay robot.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Buoc_2_Calib_lai_he_thong_Vision_AI\"><\/span><span style=\"font-weight: 400;\">B\u01b0\u1edbc 2: Calib l\u1ea1i h\u1ec7 th\u1ed1ng Vision AI<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">V\u1ec7 sinh s\u1ea1ch s\u1ebd \u1ed1ng k\u00ednh (Lens) v\u00e0 c\u1ed1 \u0111\u1ecbnh khung treo camera.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Ch\u1ea1y l\u1ea1i quy tr\u00ecnh hi\u1ec7u chu\u1ea9n 9 \u0111i\u1ec3m (Nine-Point Calibration) gi\u1eefa t\u1ea5m Grid v\u00e0 Robot.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Buoc_3_Can_chinh_Encoder_bang_tai\"><\/span><span style=\"font-weight: 400;\">B\u01b0\u1edbc 3: C\u0103n ch\u1ec9nh Encoder b\u0103ng t\u1ea3i<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Ki\u1ec3m tra d\u00e2y c\u00e1p t\u00edn hi\u1ec7u Encoder, \u0111\u1ea3m b\u1ea3o b\u00e1nh xe \u0111o \u00e9p s\u00e1t v\u00e0o l\u00f2ng b\u0103ng t\u1ea3i.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">C\u00e0i \u0111\u1eb7t l\u1ea1i th\u00f4ng s\u1ed1 Resolution (s\u1ed1 xung\/mm) c\u1ee7a Encoder tr\u00ean ph\u1ea7n m\u1ec1m.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Buoc_4_Nhap_khoang_bu_toa_do_Offset_Fine-Tuning\"><\/span><span style=\"font-weight: 400;\">B\u01b0\u1edbc 4: Nh\u1eadp kho\u1ea3ng b\u00f9 t\u1ecda \u0111\u1ed9 (Offset Fine-Tuning)<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">N\u1ebfu robot ch\u1ec9 l\u1ec7ch m\u1ed9t kho\u1ea3ng nh\u1ecf c\u1ed1 \u0111\u1ecbnh, h\u00e3y nh\u1eadp gi\u00e1 tr\u1ecb b\u00f9 +\/- X, Y, Z, \u03a6 tr\u1ef1c ti\u1ebfp tr\u00ean HMI.<\/span><\/li>\n<\/ul>\n<figure id=\"attachment_9745\" aria-describedby=\"caption-attachment-9745\" style=\"width: 1366px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-9745 size-full\" src=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Cach-khac-phuc-loi-lech-toa-do-gap-cua-Robot-Nhen-theo-quy-trinh.png\" alt=\"C\u00e1ch kh\u1eafc ph\u1ee5c l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n theo quy tr\u00ecnh\" width=\"1366\" height=\"768\" title=\"\" srcset=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Cach-khac-phuc-loi-lech-toa-do-gap-cua-Robot-Nhen-theo-quy-trinh.png 1366w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Cach-khac-phuc-loi-lech-toa-do-gap-cua-Robot-Nhen-theo-quy-trinh-300x169.png 300w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Cach-khac-phuc-loi-lech-toa-do-gap-cua-Robot-Nhen-theo-quy-trinh-1024x576.png 1024w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Cach-khac-phuc-loi-lech-toa-do-gap-cua-Robot-Nhen-theo-quy-trinh-768x432.png 768w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Cach-khac-phuc-loi-lech-toa-do-gap-cua-Robot-Nhen-theo-quy-trinh-18x10.png 18w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/09\/Cach-khac-phuc-loi-lech-toa-do-gap-cua-Robot-Nhen-theo-quy-trinh-600x337.png 600w\" sizes=\"auto, (max-width: 1366px) 100vw, 1366px\" \/><figcaption id=\"caption-attachment-9745\" class=\"wp-caption-text\">C\u00e1ch kh\u1eafc ph\u1ee5c l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n theo quy tr\u00ecnh<\/figcaption><\/figure>\n<h2><span class=\"ez-toc-section\" id=\"Meo_han_che_loi_lech_toa_do_gap_dai_han\"><\/span><span style=\"font-weight: 400;\">M\u1eb9o h\u1ea1n ch\u1ebf l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp d\u00e0i h\u1ea1n<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">\u00c1p d\u1ee5ng c\u00e1c bi\u1ec7n ph\u00e1p ph\u00f2ng ng\u1eeba gi\u00fap h\u1ec7 th\u1ed1ng v\u1eadn h\u00e0nh b\u1ec1n b\u1ec9:<\/span><\/p>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Khung treo ch\u1ed1ng rung \u0111\u1ed9c l\u1eadp:<\/b><span style=\"font-weight: 400;\"> Kh\u00f4ng g\u00e1 chung khung treo robot nh\u1ec7n v\u1edbi khung b\u0103ng t\u1ea3i rung.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Duy tr\u00ec ngu\u1ed3n s\u00e1ng chu\u1ea9n:<\/b><span style=\"font-weight: 400;\"> Trang b\u1ecb v\u00f2m \u0111\u00e8n LED chuy\u00ean d\u1ee5ng (<\/span><a href=\"https:\/\/en.wiktionary.org\/wiki\/dome_light\" target=\"_blank\" rel=\"noopener\"><i><span style=\"font-weight: 400;\">Dome Light<\/span><\/i><\/a><span style=\"font-weight: 400;\">) cho camera Vision.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>B\u1ea3o tr\u00ec \u0111\u1ecbnh k\u1ef3:<\/b><span style=\"font-weight: 400;\"> Tra m\u1ee1 kh\u1edbp c\u1ea7u v\u00e0 ki\u1ec3m tra \u0111\u1ed9 gi\u00e3n b\u0103ng t\u1ea3i h\u00e0ng th\u00e1ng.<\/span><\/li>\n<\/ul>\n<h2><span class=\"ez-toc-section\" id=\"Ket_luan\"><\/span><span style=\"font-weight: 400;\">\u0e2a\u0e23\u0e38\u0e1b<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">\u00c1p d\u1ee5ng \u0111\u00fang <\/span><b>c\u00e1ch kh\u1eafc ph\u1ee5c l\u1ed7i l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp c\u1ee7a Robot Nh\u1ec7n<\/b><span style=\"font-weight: 400;\"> gi\u00fap t\u1ed1i \u01b0u h\u00f3a hi\u1ec7u su\u1ea5t l\u00e0m vi\u1ec7c c\u1ee7a to\u00e0n nh\u00e0 m\u00e1y.<\/span><\/p>\n<p><b>B\u1ea1n \u0111ang g\u1eb7p s\u1ef1 c\u1ed1 ph\u1ee9c t\u1ea1p v\u1ec1 Robot nh\u1ec7n, Vision AI ho\u1eb7c c\u1ea7n n\u00e2ng c\u1ea5p h\u1ec7 th\u1ed1ng \u0111\u00f3ng g\u00f3i?<\/b><\/p>\n<p><span style=\"font-weight: 400;\">Li\u00ean h\u1ec7 ngay v\u1edbi \u0111\u1ed9i ng\u0169 k\u1ef9 s\u01b0 c\u1ee7a <\/span><a href=\"https:\/\/swoer.vn\/th\/contact\/\"><b>\u0e2a\u0e27\u0e2d\u0e40\u0e2d\u0e2d\u0e23\u0e4c<\/b><\/a><span style=\"font-weight: 400;\"> qua Hotline\/Zalo: <\/span><b>0347 103 200<\/b><span style=\"font-weight: 400;\"> ho\u1eb7c Email: <\/span><a href=\"mailto:sales@swoer.vn\"><b>sales@swoer.vn<\/b><\/a> <span style=\"font-weight: 400;\">\u0111\u1ec3 \u0111\u01b0\u1ee3c h\u1ed7 tr\u1ee3 k\u1ef9 thu\u1eadt v\u00e0 kh\u1ea3o s\u00e1t t\u1eadn x\u01b0\u1edfng!<\/span><\/p>\n<p><b>\t<div id=\"gap-518381225\" class=\"gap-element clearfix\" style=\"display:block; height:auto;\">\n\t\t\n<style>\n#gap-518381225 {\n  padding-top: 30px;\n}\n<\/style>\n\t<\/div>\n\t<\/b><\/p>\n<h2><span class=\"ez-toc-section\" id=\"Lien_he_voi_chung_toi\"><\/span><span style=\"font-weight: 400;\">\u0e15\u0e34\u0e14\u0e15\u0e48\u0e2d\u0e40\u0e23\u0e32<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><b>\u0e01\u0e23\u0e38\u0e13\u0e32\u0e41\u0e08\u0e49\u0e07\u0e02\u0e19\u0e32\u0e14\u0e27\u0e31\u0e2a\u0e14\u0e38\u0e41\u0e25\u0e30\u0e04\u0e27\u0e32\u0e21\u0e40\u0e23\u0e47\u0e27\u0e17\u0e35\u0e48\u0e15\u0e49\u0e2d\u0e07\u0e01\u0e32\u0e23\u0e43\u0e2b\u0e49\u0e40\u0e23\u0e32\u0e17\u0e23\u0e32\u0e1a<\/b><\/p>\n<p><b>\n<div class=\"wpcf7 no-js\" id=\"wpcf7-f280-o1\" lang=\"en-US\" dir=\"ltr\" data-wpcf7-id=\"280\">\n<div class=\"screen-reader-response\"><p role=\"status\" aria-live=\"polite\" aria-atomic=\"true\"><\/p> <ul><\/ul><\/div>\n<form action=\"\/th\/wp-json\/wp\/v2\/posts\/9741#wpcf7-f280-o1\" method=\"post\" class=\"wpcf7-form init\" aria-label=\"Contact form\" novalidate=\"novalidate\" data-status=\"init\" data-trp-original-action=\"\/th\/wp-json\/wp\/v2\/posts\/9741#wpcf7-f280-o1\">\n<div style=\"display: none;\">\n<input type=\"hidden\" name=\"_wpcf7\" value=\"280\" \/>\n<input type=\"hidden\" name=\"_wpcf7_version\" value=\"6.0.6\" \/>\n<input type=\"hidden\" name=\"_wpcf7_locale\" value=\"en_US\" \/>\n<input type=\"hidden\" name=\"_wpcf7_unit_tag\" value=\"wpcf7-f280-o1\" \/>\n<input type=\"hidden\" name=\"_wpcf7_container_post\" value=\"0\" \/>\n<input type=\"hidden\" name=\"_wpcf7_posted_data_hash\" value=\"\" \/>\n<\/div>\n<div class='custom_contact_style'>\n\t<div class=\"row row-small\">\n\t\t<div class=\"col medium-6 small-12 large-6\">\n\t\t\t<div class=\"col-inner\">\n\t\t\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-name\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-text wpcf7-validates-as-required\" aria-required=\"true\" aria-invalid=\"false\" placeholder=\"\u0e0a\u0e37\u0e48\u0e2d*\" value=\"\" type=\"text\" name=\"your-name\" \/><\/span>\n\t\t\t\t<\/p>\n\t\t\t<\/div>\n\t\t<\/div>\n\t\t<div class=\"col medium-6 small-12 large-6\">\n\t\t\t<div class=\"col-inner\">\n\t\t\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-email\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-email wpcf7-validates-as-required wpcf7-text wpcf7-validates-as-email\" aria-required=\"true\" aria-invalid=\"false\" placeholder=\"\u0e2d\u0e35\u0e40\u0e21\u0e25*\" value=\"\" type=\"email\" name=\"your-email\" \/><\/span>\n\t\t\t\t<\/p>\n\t\t\t<\/div>\n\t\t<\/div>\n\t<\/div>\n\t<div class='cus_contact_form_bottom'>\n\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-phone\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-text\" aria-invalid=\"false\" placeholder=\"\u0e42\u0e17\u0e23\u0e28\u0e31\u0e1e\u0e17\u0e4c\" value=\"\" type=\"text\" name=\"your-phone\" \/><\/span>\n\t\t<\/p>\n\t<\/div>\n\t<div class='cus_contact_form_bottom'>\n\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-country\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-text\" aria-invalid=\"false\" placeholder=\"\u0e1b\u0e23\u0e30\u0e40\u0e17\u0e28\" value=\"\" type=\"text\" name=\"your-country\" \/><\/span>\n\t\t<\/p>\n\t<\/div>\n\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-message\"><textarea cols=\"40\" rows=\"10\" maxlength=\"2000\" class=\"wpcf7-form-control wpcf7-textarea wpcf7-validates-as-required\" aria-required=\"true\" aria-invalid=\"false\" placeholder=\"\u0e02\u0e49\u0e2d\u0e04\u0e27\u0e32\u0e21\u0e02\u0e2d\u0e07\u0e04\u0e38\u0e13 *\" name=\"your-message\"><\/textarea><\/span>\n\t<\/p>\n\t<div style=\"margin-bottom:10px;\">\n\t\t<p><span class=\"wpcf7-form-control-wrap kc_captcha cf7ic-toggle\" data-name=\"kc_captcha\"><span class=\"wpcf7-form-control wpcf7-radio\"><span class=\"captcha-image\" style=\"display: none;\"><span class=\"cf7ic_instructions\">Please prove you are human by selecting the<span> key<\/span>.<\/span><label><input aria-label=\"1\" type=\"radio\" name=\"kc_captcha\" value=\"bot\" \/><svg width=\"50\" height=\"50\" aria-hidden=\"true\" role=\"img\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 576 512\"><path fill=\"currentColor\" d=\"M488 313v143c0 13-11 24-24 24H348c-7 0-12-5-12-12V356c0-7-5-12-12-12h-72c-7 0-12 5-12 12v112c0 7-5 12-12 12H112c-13 0-24-11-24-24V313c0-4 2-7 4-10l188-154c5-4 11-4 16 0l188 154c2 3 4 6 4 10zm84-61l-84-69V44c0-6-5-12-12-12h-56c-7 0-12 6-12 12v73l-89-74a48 48 0 00-61 0L4 252c-5 4-5 12-1 17l25 31c5 5 12 5 17 1l235-193c5-4 11-4 16 0l235 193c5 5 13 4 17-1l25-31c4-6 4-13-1-17z\"\/><\/svg><\/label><label><input aria-label=\"2\" type=\"radio\" name=\"kc_captcha\" value=\"bot\" \/><svg width=\"50\" height=\"50\" aria-hidden=\"true\" role=\"img\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path fill=\"currentColor\" d=\"M350 99c-54 0-98-35-166-35-25 0-47 4-68 12a56 56 0 004-24C118 24 95 1 66 0a56 56 0 00-34 102v386c0 13 11 24 24 24h16c13 0 24-11 24-24v-94c28-12 64-23 114-23 54 0 98 35 166 35 48 0 86-16 122-41 9-6 14-15 14-26V96c0-23-24-39-45-29-35 16-77 32-117 32z\"\/><\/svg><\/label><label><input aria-label=\"3\" type=\"radio\" name=\"kc_captcha\" value=\"kc_human\" \/><svg width=\"50\" height=\"50\" aria-hidden=\"true\" role=\"img\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path fill=\"currentColor\" d=\"M512 176a176 176 0 01-209 173l-24 27a24 24 0 01-18 8h-37v40c0 13-11 24-24 24h-40v40c0 13-11 24-24 24H24c-13 0-24-11-24-24v-78c0-6 3-13 7-17l162-162a176 176 0 11343-55zm-176-48a48 48 0 1096 0 48 48 0 00-96 0z\"\/><\/svg><\/label>\r\n    <\/span>\r\n    <span style=\"display:none\">\r\n        <input type=\"text\" name=\"kc_honeypot\">\r\n    <\/span><\/span><\/span>\n\t\t<\/p>\n\t<\/div>\n\t<p><input class=\"wpcf7-form-control wpcf7-submit has-spinner\" type=\"submit\" value=\"\u0e2a\u0e48\u0e07\u0e02\u0e49\u0e2d\u0e04\u0e27\u0e32\u0e21\" \/>\n\t<\/p>\n<\/div><div class=\"wpcf7-response-output\" aria-hidden=\"true\"><\/div>\n<input type=\"hidden\" name=\"trp-form-language\" value=\"th\"\/><\/form>\n<\/div>\n<\/b><\/p>","protected":false},"excerpt":{"rendered":"<p>Robot nh\u1ec7n (Delta Robot) l\u00e0 tr\u00e1i tim c\u1ee7a c\u00e1c d\u00e2y chuy\u1ec1n g\u1eafp \u0111\u00f3ng g\u00f3i t\u1ed1c \u0111\u1ed9 cao. 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