The control method of industrial robots The most used robots on the market today are industrial robots, and they are also the most mature and perfect ones. Industrial robots can be widely used, thanks to its various control methods, depending on the task. It can be mainly divided into four control modes: point control mode, continuous track control mode, force (torque) control mode and intelligent control mode. The function points of these several control modes are explained in detail below.
1. Point control mode (PTP)
This type of control only controls the pose of the industrial robot's end effector at certain discrete points in the work space. In the control, only the industrial robot is required to move quickly and accurately between adjacent points, and there is no regulation on the trajectory of the target point. Positioning accuracy and the time required for motion are the two main technical indicators of this type of control. This control method has the characteristics of easy implementation and low positioning accuracy. Therefore, it is often applied to loading and unloading, handling, spot welding, and placing components on the circuit board, etc., only requiring the target actuator to maintain the positional accuracy of the end effector. In the homework. This method is relatively simple, but it is quite difficult to achieve a positioning accuracy of 2~3um.
2. Continuous track control mode (CP)
This control method is to continuously control the position of the end effector of the industrial robot in the working space, and requires it to move in a certain precision range according to the predetermined trajectory and speed, and the speed is controllable, the trajectory is smooth, and the motion is stable. To complete the assignment task. The joints of the industrial robot are continuously and synchronously moved in a corresponding manner, and the end effector can form a continuous trajectory. The main technical index of this control method is the trajectory tracking accuracy and stability of the end effect of the end effector of the industrial robot. Usually, the arc welding, painting, deburring and detecting robots adopt this control method.
3. Force (torque) control method
In the process of assembling, picking up objects, etc., in addition to requiring accurate positioning, it is also required that the force or moment used must be appropriate, and the (torque) servo method must be used. The principle of this control method is basically the same as the position servo control principle, except that the input and feedback quantities are not position signals, but force (torque) signals, so there must be a force (torque) sensor in the system. Sometimes adaptive control is also performed using sensing functions such as proximity and sliding.
4. Intelligent control method
The intelligent control of the robot is to obtain the knowledge of the surrounding environment through the sensor, and make corresponding decisions according to its internal knowledge base. The intelligent control technology enables the robot to have strong environmental adaptability and self-learning ability. The development of intelligent control technology relies on the rapid development of artificial intelligence such as artificial neural networks, genetic algorithms, genetic algorithms, and expert systems in recent years. Perhaps this kind of control mode, industrial robots really have a little "artificial intelligence" landing taste, but it is also the most difficult to control well, in addition to the algorithm, it also depends heavily on the accuracy of the components.
From the point of view of the nature of control, industrial robots are still in the relatively low-level spatial positioning control stage in most cases. There is not much intelligence content. It can be said that it is only a relatively flexible mechanical arm, and there is still a long distance from "people". of.
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