The elements of manipulator control include working sequence, arrival position, action time, movement speed, acceleration and deceleration, etc. The control of the manipulator is divided into two types: point control and continuous trajectory control.
The control system can be designed with digital sequential control according to the requirements of the action. It must first compile a program to be stored, and then according to the specified program, there are two storage methods to control the manipulator to carry out the work program: separate storage and centralized storage. Separate storage is to store the information of various control factors in two or more storage devices respectively, such as sequential information is stored in the bolt plate, cam drum, perforated belt; Position information is stored in time relays, fixed-speed rotary drums, etc.; Centralized storage is to store all the information of various control factors in a storage device, such as tape, magnetic drum, etc. This method is used in situations where sequence, position, time, speed, etc. must be controlled at the same time, that is, in the case of continuous control.
The latch plate is used in situations where a rapid change in program is required. A different program only needs to change a kind of bolt plate, and the same plug-in can be used repeatedly; The length of the program that can be accommodated by the perforated tape is not limited, but if an error occurs, it must be replaced completely; The information capacity of the punch card is limited, but it is easy to replace, save and reuse; Magnetic stamen and drums are only suitable for applications with large storage capacities. As for which control element to choose, it is determined according to the complex and precise program of the action. For manipulators with complex movements, a reproducible control system is adopted. More complex manipulators are systems controlled by digital control systems, small computers, or microprocessors. The control system is most commonly used for the latch plate, followed by the cam drum. It is equipped with a number of cams, each of which is assigned to a motion axis, and the drum movement completes one cycle per week.
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