Mitundu ya zochita za loboti imatha kugawidwa m'magulu ophatikizana, zochita zofananira, zochita za A-arc, ndi zochita za C-arc, iliyonse yomwe ili ndi gawo lake komanso mawonekedwe ake:
1. Mgwirizano Wogwirizana(J):
Kusuntha kolumikizana ndi mtundu wa zochita zomwe loboti imasunthira pamalo odziwika poyang'anira pawokha ma angle a axis iliyonse. M'mayendedwe ophatikizana, ma robot samasamala za trajectory kuyambira poyambira kupita kumalo omwe mukufuna, koma sinthani mwachindunji ma angles a axis iliyonse kuti mukwaniritse zomwe mukufuna.
Ntchito: Kusuntha kophatikizana kumakhala koyenera nthawi zomwe loboti imayenera kusunthidwa mwachangu pamalo ena osaganizira njira. Nthawi zambiri amagwiritsidwa ntchito poyika loboti isanayambe kugwira ntchito bwino kapena pamalo ovuta pomwe kuwongolera sikufunikira.
2. Linear Motion(L):
Linear action ikutanthauza kuyenda ndendende kwa loboti kuchokera kumalo ena kupita kwina m'njira yozungulira. Pakuyenda kwa mzere, choyimira chomaliza (TCP) cha chida cha loboti chidzatsata njira yozungulira, ngakhale njirayo ingakhale yosagwirizana ndi malo olowa.
Ntchito: Liniya kuyenda nthawi zambiri amagwiritsidwa ntchito pamene ntchito yeniyeni imayenera kuchitidwa molunjika, monga kuwotcherera, kudula, kujambula, etc. ntchito pamwamba.
3. Arc Motion (A):
Kuyenda kokhota kumatanthawuza njira yoyendetsera mozungulira podutsa pakatikati (gawo losinthira). Muzochita zamtundu uwu, robot idzasuntha kuchoka kumalo oyambira kupita kumalo osinthika, kenaka jambulani arc kuchokera kumalo osinthira mpaka kumapeto.
Ntchito: Ntchito ya A arc imagwiritsidwa ntchito nthawi zambiri pomwe njira ya arc ikufunika, monga ntchito zina zowotcherera ndi kupukuta, pomwe kusankha kwakusintha kumatha kuwongolera kusuntha komanso kuthamanga.
4. Zozungulira Arc Motion(C):
Ntchito ya C arc ndikuyenda kozungulira komwe kumakwaniritsidwa pofotokozera zoyambira ndi zomaliza za arc, komanso mfundo yowonjezera (podutsa) pa arc. Njirayi imalola kuwongolera kolondola kwa njira ya arc, chifukwa sikudalira malo osinthira monga A-arc action.
Ntchito: Kuchita kwa C arc ndikoyeneranso ntchito zomwe zimafuna ma arc trajectories, koma poyerekeza ndi A arc action, zimatha kupereka kuwongolera kolondola kwa arc ndipo ndi koyenera kuchita ntchito zamakina olondola omwe ali ndi zofunikira zolimba panjira za arc. Zochita zamtundu uliwonse zimakhala ndi zabwino zake komanso zochitika zake, ndipo pokonza maloboti, ndikofunikira kusankha mtundu woyenera wochitapo kanthu potengera zomwe mukufuna.
Mayendedwe ophatikizana ndi oyenera kuyika mwachangu, pomwe mayendedwe ozungulira ndi ozungulira ndi oyenera kugwira ntchito zenizeni zomwe zimafuna kuwongolera njira. Mwa kuphatikiza mitundu yochita izi, maloboti amatha kumaliza ntchito zovuta kwambiri ndikuchita bwino kwambiri.
Nthawi yotumiza: Jul-29-2024
