KUKA industrial robots are controlled in four ways

The control mode of KUKA robot teach pendant is currently the most used industrial robot on the market, and it is also the most complete one, KUKA type robot can be widely used, the maintenance of KUKA robot teach pendant, thanks to its multiple control methods, according to different work tasks, KUKA robot can be divided into four control methods: point control, continuous trajectory control, (torque) control and intelligent control, the following details the functional points of these control methods.

KUKA industrial robots are controlled in four ways

1. Point Control Mode (PTP)

This control method is only used for position control of the end effector of the industrial robot at a specific position in the workspace. For control, only the industrial robot is required to be able to move between two adjacent objects quickly and precisely, and there is no specification for the trajectory to reach the target point. The main technical indicators of this control method are the positioning accuracy and the time required for movement. Because this control method is simple to achieve and does not require high positioning accuracy, it is often used in operations that only require the target point to maintain the accurate position and attitude of the terminal actuator, such as loading and unloading, handling, spot welding, circuit board installation, etc. The method is relatively simple, but it is quite difficult to achieve the positioning accuracy of 2-3um.

2. Trajectory continuous control mode (control mode)

The control method continuously controls the attitude of the end effector of the industrial robot in the working space, and requires it to move within a certain precision range in strict accordance with the predetermined trajectory and speed, and the trajectory of the speed control is smooth and moves smoothly to complete the operation task. Each joint of the industrial robot can do the corresponding movement continuously and synchronously, and the end effector of the robot can form a continuous trajectory. Its main technical index is the trajectory tracking accuracy and smoothness of the robot end-effector pose, which is usually used in arc welding, painting, edge removal and inspection robots.

3. Force (torque) control method.

In addition to the requirement of precise positioning, when assembling, grabbing and placing objects, etc., it is also required that the force or torque used must be appropriate, and the (torque) servo mode must be used at this time. The principle is basically the same as that of position servo control, except that the input and feedback quantities are not position signals, but force (torque) signals, so there must be strong (torque) sensors involved in the system. In some cases, adaptive control can be achieved using sensing functions such as proximity and swipe.

Fourth, intelligent control mode.

Intelligent control robots use sensors to obtain information about their surroundings and make decisions based on their internal knowledge base. Using intelligent control technology, the robot has strong environmental adaptability and self-learning ability. In recent years, the rapid development of artificial intelligence technologies such as artificial neural networks, genetic algorithms, genetic algorithms, and expert systems has led to the development of intelligent control technology. Perhaps this control mode is really a bit of an "artificial intelligence" landing, but it is also the most difficult to control, in addition to algorithms, KUKA robot drive maintenance, but also heavily dependent on the accuracy of components.

KUKA industrial robots are controlled in four ways

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