Therobot control systemndi ubongo wa loboti, womwe ndi chinthu chachikulu chomwe chimatsimikizira ntchito ndi ntchito ya loboti. Dongosolo lowongolera limatenga zidziwitso zamalamulo kuchokera pamakina oyendetsa ndikukhazikitsa njira molingana ndi pulogalamu yolowera, ndikuwongolera. Nkhani yotsatirayi ikufotokoza kwambiri za kayendedwe ka robot.
1. Dongosolo loyang'anira maloboti
Cholinga cha "kulamulira" chikutanthauza kuti chinthu cholamulidwa chidzachita m'njira yoyembekezeredwa. Chofunikira cha "kuwongolera" ndikumvetsetsa mawonekedwe a chinthu cholamulidwa.
Chofunikira ndikuwongolera torque ya driver. Dongosolo lowongolera ma robot
2. Mfundo yoyendetsera ntchito yamaloboti
Mfundo yogwira ntchito ndikuwonetsa ndi kubereka; Kuphunzitsa, komwe kumadziwikanso kuti kuphunzitsidwa motsogozedwa, ndi loboti yotsogolera yochita kupanga yomwe imagwira ntchito pang'onopang'ono molingana ndi momwe zimafunikira. Panthawi yotsogolera, lobotiyo imakumbukira zokha kaimidwe, malo, magawo a ndondomeko, magawo oyendayenda, ndi zina zotero pazochitika zilizonse zomwe zimaphunzitsidwa, ndipo zimangopanga pulogalamu yopitilirapo kuti aphedwe. Mukamaliza kuphunzitsa, ingopatsani lobotiyo lamulo loyambira, ndipo lobotiyo imangotsatira zomwe aphunzitsidwa kuti amalize ntchito yonseyo;
3. Gulu la kulamulira kwa robot
Malinga ndi kukhalapo kapena kusapezeka kwa mayankho, imatha kugawidwa m'mawonekedwe otseguka, kuwongolera kotseka
Mkhalidwe wa kuwongolera kolondola kwa loop: dziwani chitsanzo cha chinthu cholamulidwa molondola, ndipo chitsanzochi sichinasinthidwe pakuwongolera.
Malinga ndi kuchuluka kwa kuwongolera komwe kukuyembekezeka, zitha kugawidwa m'mitundu itatu: kuwongolera mphamvu, kuwongolera malo, ndi kuwongolera kosakanizidwa.
Kuwongolera malo kumagawika m'malo amodzi olumikizirana (mayankho a malo, mayankho a liwiro la malo, mayankho othamangitsira liwiro) ndi kuwongolera malo olumikizana angapo.
Kuwongolera kolumikizana kwamagulu angapo kumatha kugawidwa kukhala kuwongolera koyenda kowonongeka, kuwongolera mphamvu yapakati, kuwongolera mphamvu molunjika, kuwongolera kwamphamvu, ndi kuwongolera kwamphamvu kwa haibridi.
4. Njira zowongolera mwanzeru
Kuwongolera kosamveka, kuwongolera kosinthika, kuwongolera koyenera, kuwongolera kwa neural network, kuwongolera kwa neural network, kuwongolera kwa akatswiri
5. Kukonzekera kwa hardware ndi dongosolo la machitidwe olamulira - Zida zamagetsi - Zomangamanga zamapulogalamu
Chifukwa chachikulu chogwirizana kusintha ndi interpolation ntchito nawo kulamulira ndondomeko yamaloboti, komanso kutsika kwapanthawi yeniyeni. Chifukwa chake, pakadali pano, makina ambiri owongolera maloboti pamsika amagwiritsa ntchito makina owongolera ma microcomputer mwadongosolo, nthawi zambiri amagwiritsa ntchito magawo awiri owongolera ma servo apakompyuta.
6. Njira yeniyeni:
Pambuyo polandira malangizo a ntchito ndi ogwira ntchito, makompyuta akuluakulu olamulira amayamba kusanthula ndikumasulira malangizowo kuti adziwe zoyenda za dzanja. Kenako chitani machitidwe a kinematics, dynamics, ndi interpolation, ndipo pamapeto pake pezani magawo oyenda ogwirizana a loboti iliyonse. Magawo awa amaperekedwa ku gawo lowongolera la servo kudzera pamizere yolumikizirana monga ma siginecha amapatsidwa pamakina aliwonse olumikizana a servo. Dalaivala wa servo pa olowa amasintha siginecha iyi kukhala D/A ndikuyendetsa cholumikizira chilichonse kuti chipangitse kuyenda kogwirizana.
Zomverera zimayankha ma siginecha amtundu uliwonse kubwerera ku servo control level komputa kuti apange chiwongolero chotsekeka chapafupi, kukwaniritsa kuwongolera bwino kwakuyenda kwa loboti mumlengalenga.
7. Pali njira ziwiri zowongolera zowongolera zoyenda potengera PLC:
① Gwiritsani ntchito zotuluka zaPLCkupanga ma pulse malamulo oyendetsa galimoto, pogwiritsa ntchito I/O yapadziko lonse kapena zigawo zowerengera kuti mukwaniritse kuwongolera kotseka kwa servo motor.
② Chiwongolero chotseka chamoto chimatheka pogwiritsa ntchito gawo lowongolera lakunja la PLC. Njirayi makamaka imagwiritsa ntchito kuwongolera kwamphamvu kwambiri, komwe kumakhala njira yowongolera malo. Nthawi zambiri, kuwongolera malo ndi njira yowongolera malo.
Nthawi yotumiza: Dec-15-2023
