Industrial robots are controlled in a variety of ways, which differ according to the operational task. They can be mainly categorized as follows: point control mode, continuous trajectory control mode, force (torque) control mode and intelligent control mode. Each control mode has its unique characteristics and application scenarios, and these four control modes will be introduced below.
I. Point position control (PTP)
Point position control is one of the most basic control methods for industrial robots. This control method is characterized by only controlling the position of the end-effector of the industrial robot at certain specified discrete points in the operating space. Control only requires the industrial robot to quickly and accurately realize the movement between adjacent points, while the movement trajectory to reach the target point does not make any provisions. The main technical indicators of this control method are the positioning accuracy and the time required for movement.
Features and Applications :
Easy to operate: The point position control method realizes control by setting discrete points and is relatively simple to program.
High positioning accuracy : It is suitable for tasks requiring high positioning accuracy, such as assembly, screwing and welding.
Lower flexibility: Since it only focuses on discrete points and not on the motion trajectory, it is relatively less flexible.
II. continuous trajectory control mode (CP)
Continuous trajectory control mode is a more complex and precise control mode. This control method is characterized by continuously controlling the position of the industrial robot end-effector in the operating space, requiring it to move within a certain accuracy range in strict accordance with the predetermined trajectory and speed, and the speed is controllable, the trajectory is smooth, and the movement is smooth.
Features and Applications :
- High flexibility: capable of realizing motion on complex paths such as curves and circumferences.
- Large freedom of movement : Suitable for tasks requiring high precision and continuous movement, such as spraying, cutting, polishing, etc.
- Relatively low precision : Compared with point control, continuous trajectory control may require slightly lower precision for the overall trajectory, but pays more attention to the continuity and stability of the movement.
III. force (torque) control mode
Force (torque) control mode is a special control mode, which focuses on the force feedback and control between the robot and the working environment. The control principle of this control method is basically the same as the position servo control principle, except that the input and feedback are not position signals, but force (torque) signals. Therefore, there must be a force (torque) sensor in the system.
Features and Applications :
- High precision: It can realize precise control of force, which is suitable for scenes that require precise control of force, such as precision assembly, assembly, and so on.
- Good stability: Adjusting robot motion through force feedback enables the robot to interact with the environment in a more stable manner.
- High requirements for sensors: high precision force (torque) sensors are needed to support.
IV. Intelligent control
Intelligent control mode is the cutting-edge technology in the field of industrial robot control. It combines advanced technologies such as artificial intelligence, machine learning and big data analysis to enable robots to have more advanced decision-making and judgment capabilities. Through intelligent control technology, the robot can learn and make decisions on its own, and work intelligently according to different situations.
Features and Applications :
- High adaptability : It can adjust and optimize itself according to different working environments and task requirements.
- High autonomy: the robot can complete tasks autonomously to a certain extent, reducing human intervention.
- High technical requirements: requires advanced algorithms and strong computing power to support.
Summary
Industrial robots are controlled in a variety of ways, each of which has its own unique advantages and applicable scenarios. Point control mode is easy to operate and has high positioning accuracy, which is suitable for simple and fixed operation tasks; continuous trajectory control mode has high flexibility and large freedom of movement, which is suitable for tasks that require high-precision and continuous movement; force (torque) control mode has high precision and good stability, which is suitable for scenarios that require precise control of force; and the intelligent control mode represents the direction of the development of the control technology of industrial robots, with strong adaptability and autonomy. strong adaptability and autonomy. When choosing the industrial robot control method, it is necessary to consider the specific application scenarios and needs.