The function of the robot control system is to receive the detection signals from the sensors and drive the motors in the robot arm according to the requirements of the operation task Just like our human activities depend on our own senses, the robot motion control cannot be done without sensors. Robots need sensors to detect various states. The internal sensor signals of the robot are used to reflect the actual motion of the robot arm joints, and the external sensor signals of the robot are used to detect changes in the working environment.
What are the classifications of industrial robot control systems?
1、Program control system: By applying a certain regular control action to each degree of freedom, the robot can achieve the required spatial trajectory.
2、Adaptive control system: When the external conditions change, in order to ensure the required quality or in order to improve the control quality by itself with the accumulation of experience, the process is based on the observation of the state of the operator and the servo error, and then adjust the parameters of the nonlinear model until the error disappears. The structure and parameters of this system can change automatically with time and conditions.
3、Artificial intelligence system: The motion cannot be programmed in advance, but requires the control role to be determined in real time during the motion based on the surrounding state information obtained.
4、Point-position type: The robot is required to accurately control the position of the end-effector, independent of the path.?
5、Trajectory type: The robot is required to move according to the trajectory and speed taught.
6、Control bus: International standard bus control system. Adopt international standard bus as the control bus of control system, such as VME, MULTI-bus, STD-bus, PC-bus.
7、Custom bus control system: The bus defined by the manufacturer is used as the control system bus.
8、Programming method: Physical setting programming system. Fixed limit switch is set by the operator to realize the programmed operation of starting and stopping, which can only be used for simple pick and place operation.
9、On-line programming: The programming method of memory process of operation information is completed by human demonstration, including direct demonstration simulation demonstration and demonstration box demonstration.
10、Off-line programming: Instead of directly teaching the robot to the actual operation, the program is taught in a way that is separate from the actual operation environment, and the robot operation trajectory is generated remotely off-line by using advanced robot, programming language.
