The robot can be divided into the hardware part and the software part, the hardware part mainly contains the body and the manipulator, and the software part mainly refers to its control skills.
Ontology part
Let's start with the ontology of the robot. Industrial robots are modeled after human arms for planning. Let's take the modern robot HS220 model as an example, from the appearance, there are six parts: base, lower structure, upper structure, arm, wrist body, wrist rest, etc.
The joints of the robot are just like the muscles of humans, and they are controlled by servo motors and reducers. The servo motor is the source of power, and the running speed of the robot and the weight of the load are all related to the servo motor. The reducer, on the other hand, is the intermediary of power transmission and has many different sizes. Generally, for microrobots, the required repeatability is very high, generally less than 0.001 inch or 0.0254 mm. The servo motor is connected to the reducer, which can help improve the accuracy and the transmission ratio of the reducer.
Manipulators
The manipulator of the robot is equivalent to the brain of the robot, it participates in the whole process of accounting for sending instructions and energy supply, and it controls the robot to complete a certain action or operation mission according to the instructions and sensor information, which is the main factor that determines the function and performance of the robot.
In addition to the above two components, the hardware part of the robot also contains:
SMPS, switching power supply provides energy;
CPU module, control moves;
Servo drive module, control the current to make the robot joints move;
The continuation module, which is equivalent to the sympathetic nerve of the human being, takes over the safety of the robot, agilely controls the robot, and emergency stops.
The input and output module, which is equivalent to detecting the response nerve, is the interface between the robot and the external world.
Manipulation skills
The control skill of the robot refers to the use of the robot quickly and accurately. One of the great things about robots is that their programs can be easily modified, which allows them to switch between different scenarios. In order for people to be able to control the robot, it is necessary to rely on a teaching pendant. On the display interface of the teach pendant, we can see the programming language of the robot, HR Basic, and the various states of the robot. We can use the teach pendant to complete the programming of the robot.
The second part of the manipulation skill is to make a table and then manipulate the robot's movements according to the charts. We can use the calculated mechanical data to complete the planning and action control of the robot.
In addition, machine vision, and more recently, artificial intelligence addiction deep learning and classification, etc., are all in the category of manipulation skills.
Modern robots also have a dedicated R&D team to study the robot's control skills. In addition, we also have a mechanical system R&D team to serve as the robot ontology, a control channel team to serve as a controller, and a control team to use the control team to serve as a control skill. It is the unity and cooperation of multiple departments that make up today's modern robots.
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NAME=SHIFT
PGN=1
=================== declares the array ============
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