There are four major control methods for ABB industrial robots

The control mode of industrial robots is now the most used robot on the market is industrial robots, and it is also the most mature and perfect robot, industrial robots can be widely used, because it has a variety of control methods, according to the different tasks, it is mainly divided into point control mode, continuous trajectory control mode, force (torque) control mode and intelligent control mode 4 control methods, the following details the functional points of these control methods.

There are four major control methods for ABB industrial robots

There are four major control methods for ABB industrial robots

1. Point Control Mode (PTP)

This control method only controls the position of the discrete point specified in the work space of the industrial robot end effector. When controlling, it is only required that the industrial robot can move quickly and accurately between adjacent points, and there will be no regulations on the movement trajectory of reaching the target point.

Positioning accuracy and the time required for movement are the two major technical indicators of this control method. Because this control method is simple to implement and requires low positioning accuracy, it is often used for loading and unloading materials, handling, spot welding, and mounting parts on circuit boards, as long as the end effector posture is maintained at the target point. This method is relatively simple, but it is difficult to achieve a positioning accuracy of 2-3um.

2. Continuous trajectory control mode (CP)

The control mode is to continuously control the position of the end effector of the industrial robot in the working space, move in strict accordance with the predetermined trajectory and speed within a certain precision range, speed control, smooth trajectory, stable movement, and complete the operation task.

Each joint of the industrial robot moves continuously and synchronously, and its end effector can form a continuous trajectory. The main technical indicators of this control method are the trajectory tracking accuracy and stability of the position of the end effector of the industrial robot, and the control mode of the arc welding, painting, dehairing and inspection operation robot is usually adopted.

3. Force (moment) control mode.

When assembling and grasping objects, it is necessary not only to position them correctly, but also to use the appropriate force and torque, and it is necessary to use the (torque) servo method. The principle of this control method is basically the same as that of position servo control, but the input and feedback quantities are not position signals, but force (moment) signals, so the system must have a force (moment) sensor. In some cases, adaptive control is performed using sensing functions such as proximity and sliding.

Fourth, intelligent control mode.

The intelligent control of the robot is to obtain the knowledge of the surrounding environment through the sensors, and make corresponding decisions according to its own internal knowledge base. The intelligent control technology is adopted to make 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, and expert systems in recent years. With this mode of control, industrial robots may really have the landing taste of artificial intelligence, but the most difficult to control, in addition to algorithms, also rely heavily on the accuracy of components.

From the point of view of control essence, at present, industrial robots are often in the relatively low-level spatial positioning control stage, and the intelligent content is not large, so it can be said that it is just a relatively flexible robotic arm, and there is still a long distance from people.

There are four major control methods for ABB industrial robots

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