1. Lozani Kuti Mulole Kuwongolera
Dongosolo lowongolera mfundo kwenikweni ndi dongosolo la servo, ndipo kapangidwe kawo koyambira ndi kapangidwe kake ndizofanana, koma cholinga chake ndi chosiyana, komanso zovuta zowongolera ndizosiyana. Dongosolo loyang'anira mfundo nthawi zambiri limaphatikizapo chowongolerera chomaliza, makina otumizira, chinthu chamagetsi, chowongolera, chipangizo choyezera malo, ndi zina zotere. Chowongolerera ndi chinthu chomwe chimakwaniritsa zofunikira zogwirira ntchito, mongamkono wa robot wa loboti yowotcherera, malo ogwirira ntchito a makina opangira makina a CNC, ndi zina zotero. Mwachidziwitso, ma actuators amaphatikizanso zigawo zothandizira zoyenda monga njanji zowongolera, zomwe zimagwira ntchito yofunikira pakuyika kulondola.
Njira yowongolera iyi imangoyang'anira malo ndi kaimidwe kazinthu zina zodziwika bwino za makina opangira ma robotiki pamalo ogwirira ntchito. Poyang'anira, ma robot a mafakitale amangofunika kuti aziyenda mofulumira komanso molondola pakati pa malo oyandikana nawo, osafuna njira yomwe mukufuna kuti ifike kumalo omwe mukufuna. Kulondola kwa malo ndi nthawi yofunikira yoyenda ndi zizindikiro ziwiri zazikulu zaumisiri za njirayi. Njira yowongolerayi ili ndi mawonekedwe a kukhazikitsa kosavuta komanso kulondola kotsika kwa malo. Chifukwa chake, nthawi zambiri amagwiritsidwa ntchito pakukweza ndi kutsitsa, kuwotcherera pamalo, ndikuyika zigawo pama board ozungulira, zomwe zimangofunika kuti malo ndi mawonekedwe a terminal actuator akhale olondola pamalo omwe mukufuna. Njirayi ndi yophweka, koma n'zovuta kukwaniritsa malo olondola a 2-3 μ m.
2. Njira yoyendetsera njira yopitilira
Njira yowongolera iyi imawongolera mosalekeza momwe maloboti amagwirira ntchito komanso momwe zimagwirira ntchito, zomwe zimafuna kuti azitsatira mosamalitsa njira yodziwikiratu komanso liwiro kuti liziyenda mkati mwazolondola, ndi liwiro lowongolera, njira yosalala, komanso kuyenda kokhazikika, kuti amalize ntchitoyo. Pakati pawo, kulondola kwamayendedwe ndi kukhazikika kwamayendedwe ndizizindikiro ziwiri zofunika kwambiri.
Malumikizidwe a maloboti ogulitsa mafakitale amayenda mosalekeza komanso mosalekeza, ndipo zotsatira zomaliza za maloboti amakampani zimatha kupanga njira zopitilira. Zizindikiro zazikulu zaumisiri za njira yolamulira iyi ndikulondola kolondola ndi kukhazikika kwa trajectoryza mapeto a maloboti a mafakitale, omwe amagwiritsidwa ntchito kwambiri powotcherera arc, kujambula, kuchotsa tsitsi, ndi maloboti ozindikira.
3. Mphamvu yolamulira mode
Maloboti akamaliza ntchito zokhudzana ndi chilengedwe, monga kugaya ndi kusonkhanitsa, kuwongolera malo kosavuta kumatha kubweretsa zolakwika zazikulu, kuwononga magawo kapena maloboti. Maloboti akamayenda m'malo ocheperako, nthawi zambiri amafunikira kuphatikiza mphamvu kuti agwiritse ntchito, ndipo ayenera kugwiritsa ntchito (torque) servo mode. Mfundo ya njira yoyendetserayi ndi yofanana ndi kulamulira kwa servo, kupatula kuti zolowetsamo ndi ndemanga sizizindikiro za malo, koma zizindikiro za mphamvu (ma torque), kotero dongosololi liyenera kukhala ndi chojambula champhamvu cha torque. Nthawi zina, kuwongolera kosinthika kumagwiritsanso ntchito zomverera monga kuyandikira ndi kutsetsereka.
4. Njira zowongolera mwanzeru
Kuwongolera kwanzeru kwa malobotindikupeza chidziwitso cha chilengedwe chozungulira kudzera mu masensa ndikupanga zisankho zofananira potengera chidziwitso chawo chamkati. Pogwiritsa ntchito ukadaulo wowongolera mwanzeru, loboti ili ndi kuthekera kokhazikika kwachilengedwe komanso luso lodziphunzira. Chitukuko cha luso kulamulira wanzeru amadalira kukula mofulumira kwa nzeru yokumba, monga yokumba maukonde neural, ma aligovimu chibadwa, ma aligoviyamu chibadwa, kachitidwe katswiri, etc. Mwina njira ulamuliro imeneyi kwenikweni ndi kukoma kwa yokumba nzeru ankatera kwa maloboti mafakitale, amene ndi komanso zovuta kwambiri kuzilamulira. Kuphatikiza pa ma algorithms, imadaliranso kwambiri kulondola kwa zigawo.
Nthawi yotumiza: Jul-05-2024
