1. Point control mode (PTP)
The point control system is actually a kind of position servo system, their basic structure and composition are basically the same, but the focus is different, and their control complexity also has its own merits.
The point control system generally includes the final mechanical actuator, mechanical transmission mechanism, power components, controllers, position measuring devices, etc., the mechanical actuator is the action part that finally completes the functional requirements, such as the manipulator of the welding robot, the workbench of the CNC machining machine tool, etc., and the actuator also includes the motion support parts such as the guide rail, which also plays a key role in the positioning accuracy.
This control method only controls the pose of the industrial robot end-effector at certain specified discrete points in the work space. In the control, only the industrial robot is required to be able to move quickly and accurately between adjacent points, and there is no provision for the movement trajectory to reach the target point. Positioning accuracy and the time required for movement are the two main technical indicators of this type of control. This control method has the characteristics of easy implementation and low positioning accuracy requirements, so it is often used in operations that only require the end effector to maintain an accurate position 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 quite difficult to achieve the positioning accuracy of 2-3um.
2. Continuous trajectory control mode (CP)
This control mode is to continuously control the posture of the end effector of the industrial robot in the working space, which requires it to move within a certain range of accuracy in strict accordance with the predetermined trajectory and speed, and the speed is controllable, the trajectory is smooth, and the movement is stable to complete the operation task.
Among them, trajectory accuracy and motion smoothness are the two most important indicators.
Each joint of the industrial robot carries out the corresponding movement continuously and synchronously, and its end effector can form a continuous trajectory. The main technical index of this control mode is the trajectory tracking accuracy and smoothness of the posture of the end effector of the industrial robot, which is usually used by arc welding, painting, deburring and detection robots.
3. Force (torque) control mode
When the robot completes some tasks that interact with the environment, such as grinding and assembly, simple position control will cause excessive force due to position error, which will hurt the parts or the robot. When the robot moves in this kind of restricted motion environment, it often needs to be used with force control, and the (torque) servo mode must be used.
The principle of this control method 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 force (torque) sensors must be used in the system. In some cases, adaptive control is also performed using sensing functions such as proximity and sliding.
4. Intelligent control mode
The intelligent control of the robot is to obtain the knowledge of the surrounding environment through sensors and make corresponding decisions based on its own internal knowledge base. The intelligent control technology is used 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. Perhaps this mode of control, industrial robots really have a bit of "artificial intelligence" landing flavor, but it is also the most difficult to control well, in addition to algorithms, but also heavily dependent on the accuracy of components.
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