Point control mode (ptp): This control mode is characterized by controlling only the position of the industrial robot end operator at some specified discrete points in the working space. The control only requires the industrial robot to realize the motion between adjacent points quickly and accurately, but does not make any regulation on the trajectory of the target point. The main technical indicators of this control method are the positioning accuracy and the time required for the movement. .
Due to the easy implementation of the control method and the low positioning accuracy requirements, it is often used in the operations of loading and unloading, handling, welding, placing components on the circuit board, etc., only requiring the target operator to maintain the correct position of the end operator. In general, this method is relatively simple, but it is quite difficult to achieve an accuracy of 2υm~3υm.
Continuous track motion mode (cp): This control mode is characterized by continuously controlling the position of the industrial robot's end operator in the working space, requiring it to move in a certain accuracy range in strict accordance with the specified trajectory and speed, and the speed Controllable, smooth track, smooth motion, to complete the task, the joints of the industrial robots are continuously and synchronously moved accordingly, and the end manipulator can form a continuous track. The main technical index of this control mode is the end of the industrial robot. The trajectory tracking accuracy and smoothness of the operator pose. This type of control is used by arc welding, painting, deburring and inspection robots.
When completing the assembly, picking and dropping objects, etc., in addition to accurate positioning, it is also required to use a moderate force or force cabinet to work. At this time, the force servo method is used. The control principle of this method is basically the same as the position servo control principle, except that the input amount and the feedback amount are not position signals. It is a force signal, so there must be a force sensor in the system, and sometimes adaptive control using proximity, sliding and other sensing functions.
The intelligent control of the robot obtains the knowledge of the surrounding environment through the sensor, and makes corresponding decisions according to its internal knowledge base. The intelligent control technology is adopted. The robot has strong environmental adaptability and self-learning ability. The development of intelligent control technology depends on In recent years, artificial neural networks, genetic algorithms, genetic algorithms, expert systems and other artificial intelligence have developed rapidly.