The control method of industrial robots is currently used in the market to use the most robots is industrial robots, but also the most mature and perfect robots, and industrial robots can be widely used, thanks to the fact that it has a variety of control methods, according to the different mission of the operation, can be mainly divided into point control methods, continuous track control methods, force (torque) control methods and intelligent control methods four control methods, the following specific description of the functional points of these control methods.
1. Point Control Method (PTP)
This control method only controls the pose of the industrial robot end actuator at certain specified discrete points in the work space. When controlling, only the industrial robot is required to be able to move quickly and accurately between adjacent points, and there is no provision for the motion track to reach the target point. Positioning accuracy and the time required for movement are the two top skill indicators for this method of manipulation. This control method has the characteristics of easy completion and low positioning accuracy requirements, so it is often used in operations that only require the accurate position of the end actuator at the target point, such as loading and unloading, handling, spot welding, and inserting components on the circuit board. This method is relatively simple, but it is appropriately difficult to achieve a positioning accuracy of 2-3um.
2. Continuous track control method (CP)
This control method is to control the position and posture of the end actuator of the industrial robot in the working space continuously, and it is required to move strictly according to the predetermined track and speed within the certain accuracy range, and the speed is controllable, the track is lubricated, and the movement is stable, so as to complete the operation mission. Each joint of the industrial robot carries out corresponding movements one after another and synchronously, and its end actuator can form a continuous track. The primary skill index of this control method is the track tracking accuracy and smoothness of the actuator position at the end of the industrial robot, and usually arc welding, painting, deburring and inspection operation robots all choose this control method.
3. Force (torque) manipulation method
In addition to accurate positioning, the force or torque used is also required to be appropriate, and the (torque) servo method is necessary to be used in addition to accurate positioning. The principle of this control method is fundamentally the same as the principle of azimuth servo control, except that the input and feedback are not azimuth signals, but force (torque) signals, so it is necessary to have force (torque) sensors in this system. In some cases, adaptive control is also performed using sensing functions such as proximity and swipe
4. Intelligent control method
The intelligent control of the robot is to obtain the common sense of the surrounding environment through the sensor, and make corresponding decisions based on its own internal knowledge database. The intelligent control skills are selected to make the robot have strong environmental adaptability and self-learning ability. The development of intelligent manipulation skills depends on the rapid development of artificial intelligence such as artificial neural networks, genetic algorithms, genetic algorithms, and * systems in recent years. Maybe this mode of control method, industrial robots really have a bit of "artificial intelligence" landing flavor, but it is also the most difficult to control well, in addition to the algorithm, it also depends heavily on the accuracy of the components.
From the point of view of the essence of control, the current industrial robot, in most cases, is still in the relatively low level of spatial positioning and control stage, without too much intelligent content, it can be said that it is just a relatively sensitive robotic arm, and there is still a long distance from the "human".
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