Do you know why the productivity of enterprises is so high nowadays? It's because companies are now using industrial robots for production, and industrial robots can produce continuously and uninterruptedly, which is why productivity is so high. How do industrial robots produce? It has a control system, now look at the industrial robot control system which several control methods.
1. Master-slave control mode
The use of master and slave two-level processor to realize all the control functions of the system. The master CPU realizes the management, coordinate transformation, trajectory generation and system self-diagnosis, etc.; the CPU realizes the action control of all joints. The master-slave control system has better real-time performance and is suitable for high-precision and high-speed control, but its system expandability is poor and maintenance is difficult!
2. Decentralized control mode
According to the nature of the system and the way the system control is divided into several modules, each module has a different control task and control strategy, each mode can be a master-slave relationship, can also be equal. This way of real-time is good, easy to realize high-speed, high-precision control, easy to expand, intelligent control can be realized, is the current popular way!
3. Centralized control mode
With a computer to realize all the control functions, simple structure, low cost, but poor real-time, difficult to expand!
The main functions of industrial robot control system
Industrial robots in the workspace of the motion position, attitude and trajectory, the sequence of operation and the time of action and other items Industrial robots in the workspace of the motion position, attitude and trajectory, the sequence of operation and the time of action and other items of the control is the main task of the industrial robot control system, which some of the items of the control is very complex. The main functions of the industrial robot control system include the following two points:
(1) Demonstration and reproduction function. Demonstration and reproduction function means that the control system can be taught through the demonstration box or hands-on demonstration, the sequence of movements, movement speed, position and other information with a certain method of pre-teaching to the industrial robot, the industrial robot's memory device will be taught to automatically record the operation process in the memory, when the need to reproduce the operation, replay the contents stored in the memory can be. If there is a need to change the operation content, it is only necessary to re-teach once.
(2) Motion control function The motion control function refers to the control of the position, speed, acceleration and other items of the end manipulator of the industrial robot.
Composition of industrial robot control system
The control system of the industrial robot consists of the corresponding hardware and software.
1. Hardware
The hardware mainly includes the following parts:
(1) Sensing device. It can be divided into internal sensors and external sensors. The former is used to sense its own state, and its role is to detect the position, speed and acceleration of the joints of the industrial robot; the latter is used to sense the working environment and the state of the working object, and the external sensors include visual, force, tactile, auditory, slippery sensors and other sensors.
(2) control device. Generally consists of a micro or small computer and the corresponding interface. Its role is used to process a variety of sensory information, the implementation of control software, and produce control instructions.
(3) joint servo drive part. The main role of this part is based on the instructions of the control device, according to the requirements of the operational task to drive the joint movement.
2. Software
The software mentioned here mainly refers to the control software of the robot. The control software consists of the motion trajectory planning algorithm and joint servo control algorithm and the corresponding action program. It can use all the programming language preparation, but the mainstream of industrial robot control software is modularized by the general language and the preparation of the formation of a special industrial language.