The use of industrial robots is gradually increasing, mainly because of the many advantages they offer. For industrial robots, industry-related people must have some understanding. But as far as ordinary people are concerned, industrial robots are a certain distance from our lives. In order to increase your understanding of industrial robots, this article will introduce the 4 major control methods of industrial robots.
Control of industrial robots is currently the most used robot on the market when the industrial robots, but also the most mature and perfect a robot, and industrial robots can be widely used, thanks to it has a variety of control modes, according to the different tasks, can be divided into point control mode, continuous trajectory control mode, force (torque) control mode and intelligent control mode of the four control modes, the following side of the detailed description of the function of these control modes The following is a detailed description of the functional points of these control modes.
1. Point position control (PTP)
This control method only controls the position of the end-effector of the industrial robot at certain specified discrete points in the workspace. When controlling, it is only required that the industrial robot be able to move quickly and accurately between neighboring points, and there is no stipulation on the movement trajectory to reach the target point. Positioning accuracy and the time required for movement are the two main technical indicators of this control method. Since this control method is easy to realize and does not require high positioning accuracy, it is often used in operations such as loading and unloading, handling, spot soldering, and inserting components on circuit boards, which only require that the position of the end-effector be maintained accurately at the target point. This method is relatively simple, but it is quite difficult to achieve a positioning accuracy of 2~3um.
2. Continuous trajectory control (CP)
This control method is to continuously control the position of the end-effector of the industrial robot in the operation space, and require it to move within a certain accuracy range strictly according to the predetermined trajectory and speed, and the speed is controllable, the trajectory is smooth, and the movement is smooth, in order to complete the operation task. The joints of the industrial robot carry out the corresponding movements continuously and synchronously, and its end-effector can form a continuous trajectory. The main technical indicators of this control method is the trajectory tracking accuracy and smoothness of the end-effector posture of industrial robots, usually arc welding, painting, deburring and testing operations robots use this control method.
3. Force (torque) control method
In assembly, gripping and placing objects, etc., in addition to the requirement of accurate positioning, but also requires the use of the force or torque must be appropriate, this must be used (torque) servo mode. The principle of this type of control is basically the same as that of position servo control, except that the input and feedback are not position signals but force (torque) signals, so there must be a force (torque) sensor in the system. Sometimes also use the proximity, sliding and other sensing functions for adaptive control.
4. Intelligent control method
Intelligent control of the robot is to gain knowledge of the surrounding environment through sensors and make decisions accordingly based on its own internal knowledge base. The use of intelligent control technology makes the robot have strong environmental adaptability and self-learning ability. The development of intelligent control technology depends on the rapid development of artificial intelligence such as artificial neural networks, genetic algorithms, genetic algorithms, expert systems, etc. in recent years. Maybe this control mode mode, industrial robots are really a little "artificial intelligence" flavor, but also the most difficult to control well, in addition to algorithms, but also rely heavily on the accuracy of the components.
From the point of view of the nature of the control, the current industrial robots, in most cases, is still at the bottom of the spatial positioning control stage, there is not much intelligent content, can be said to be just a relatively flexible robotic arm, away from the "human" there is still a long way to go.