The manual movement method of industrial robots is mainly divided into four control methods: point control method, continuous track control method, force (torque) control method and intelligent control method.
1. Point Control Method (PTP)
This control method only controls the pose of the industrial robot end actuator at some regular 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 are no rules for the motion track that reaches 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 simple completion and low positioning accuracy requirements, so it is often used in the operation of loading and unloading, transferring, spot welding, and inserting components on the circuit board, which only requires the accurate position of the end actuator at the target point. This method is relatively simple, but it is quite difficult to achieve a positioning accuracy of 2-3um.
2. Continuous track control method (CP)
This control method is to continuously control the posture of the industrial robot end actuator in the working space, and it is required to move within a certain range of accuracy in strict accordance with the predetermined track and speed, and the speed is controllable, the track is lubricated, and the movement is stable, so as to complete the operation task. Each joint of the industrial robot carries out the corresponding movement in succession and synchronization, 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 this control method is usually selected by the robot for arc welding, painting, deburring and inspection operations.
3. Force (torque) manipulation method
In addition to precise positioning, the force or torque used is also required to be appropriate, and the (torque) servo method is necessary to be used when installing, grabbing and placing objects. The principle of this control method is fundamentally the same as that of the azimuth servo control, except that the input and response quantities are not azimuth signals, but force (torque) signals, so it is necessary to have a force (torque) sensor in the system. In some cases, adaptive control is performed using sensing functions such as proximity and sliding
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 according to its own internal knowledge base. The selection of intelligent control skills makes the robot have strong environmental adaptability and self-learning ability. The development of intelligent control skills 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 form 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 algorithms, but also severely dependent on the accuracy of components.
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