Ni ukubera iki robot idashobora gukora imirimo neza ukurikije uko isubiramo? Muri sisitemu yo kugenzura imikorere ya robo, gutandukana kwa sisitemu zitandukanye zo guhuza ibintu ni ikintu cyingenzi kigira ingaruka kumikorere ya robo. Ibikurikira nisesengura rirambuye ryuburyo butandukanye bwo guhuza sisitemu:
1 、 Umuhuzabikorwa shingiro
Ihuriro fatizo nigipimo cya sisitemu zose zihuza hamwe nintangiriro yo gushiraho moderi ya kinematike ya robo. Iyo wubatse moderi ya kinematike kuri software, niba igenamiterere rya sisitemu yo guhuza ibikorwa idahwitse, bizaganisha ku kwegeranya amakosa muri sisitemu yose. Ubu bwoko bwikosa ntibushobora kuboneka byoroshye mugihe cyo gukemura no gukoresha, kuko software ishobora kuba yarangije gutunganya indishyi zijyanye imbere. Ariko, ibi ntibisobanura ko igenamigambi ryibanze rishobora kwirengagizwa, kuko gutandukana kwose bishobora kugira ingaruka zikomeye kumikorere ya robo.
2 、 DH ihuza
Umuhuzabikorwa wa DH (Denavit Hartenberg umuhuzabikorwa) ni ibisobanuro kuri buri murongo uzunguruka, bikoreshwa mugusobanura umwanya ugereranije nu gihagararo hagati yingingo za robo. Mugihe wubaka robot kinematic moderi kuri software, niba icyerekezo cya sisitemu ya DH ihuza sisitemu yashizweho nabi cyangwa ibipimo bihuza (nkuburebure, offset, inguni ya torsion, nibindi) ntabwo aribyo, bizatera amakosa mukubara bahuje ibitsina matrix. Ubu bwoko bwikosa buzahindura byimazeyo inzira yimikorere ya robo. Nubwo bidashobora kumenyekana byoroshye mugihe cyo gukemura no gukoresha kubera uburyo bwindishyi zimbere muri software, mugihe kirekire, bizagira ingaruka mbi kumikorere ya robo.
3 co Guhuza ibikorwa
Guhuza ibikorwa ni igipimo cyo guhuza icyerekezo, bifitanye isano ya hafi n'ibipimo nko kugabanya igipimo n'inkomoko ya buri murongo. Niba hari ikosa hagati ya sisitemu yo guhuza hamwe nagaciro nyako, bizaganisha kumyitozo idahwitse. Uku kudasobanuka kurashobora kugaragara nkibintu nko gutinda, kuyobora, cyangwa kunyeganyega hamwe, bigira ingaruka zikomeye kumikorere ya robo. Kugira ngo wirinde iki kibazo, ibikoresho bya kalibibasi ya laser isanzwe ikoreshwa muguhindura neza sisitemu ihuriweho mbere yuko robot iva muruganda, ikemeza neza ko icyerekezo kimwe.
4 、 Ihuriro ryisi
Isi ihuza ibipimo ngenderwaho byerekana umurongo kandi bifitanye isano nibintu nko kugabanya igipimo, aho inkomoko ihagaze, hamwe nibipimo bihuza. Niba hari ikosa hagati yisi ihuza ibikorwa hamwe nagaciro nyako, bizaganisha kumurongo utari wo wa robo, bityo bikagira ingaruka kumyitwarire yimikorere ya nyuma. Uku kudasobanuka kurashobora kugaragara nkibintu nkibishobora kurangira, guhindagurika, cyangwa guhagarika, bigira ingaruka zikomeye kumikorere ya robo. Kubwibyo, mbere yuko robot iva mu ruganda, birakenewe kandi gukoresha ibikoresho bya kalibibasi ya laser kugirango ihindure neza sisitemu yo guhuza isi kugirango harebwe niba umurongo ugenda neza.
5 、 Umuhuzabikorwa wa Workbench
Imikorere ya Workbench isa na coordinate yisi kandi ikoreshwa no gusobanura imyanya ihagaze hamwe nimiterere ya robo kumurimo wakazi. Niba hari ikosa hagati ya sisitemu yo guhuza ibikorwa byakazi nigiciro nyacyo, bizatera robot idashobora kugenda neza mumurongo ugororotse kumurongo washyizweho. Uku kudasobanuka kurashobora kugaragara nkimashini ihindagurika, yinyeganyeza, cyangwa idashobora kugera kumwanya wagenwe kumurimo wakazi, bikagira ingaruka zikomeye kumikorere ya robo. Kubwibyo, igiheguhuza robot hamwe nintebe yakazi, kalibrasi yuzuye ya sisitemu yo guhuza ibikorwa irakenewe.
6 、 Igikoresho gihuza
Guhuza ibikoresho ni ibipimo byerekana umwanya nicyerekezo cyibikoresho birangira ugereranije na sisitemu yo guhuza ibikorwa bya robo. Niba hari ikosa riri hagati yigikoresho cyo guhuza ibikoresho nigiciro nyacyo, bizavamo kutabasha gukora inzira nyayo yinzira ishingiye kumurongo wanyuma mugihe cyo guhindura imyumvire. Uku kudasobanuka kurashobora kugaragara nkibikoresho bigoramye, bigoramye, cyangwa bidashobora kugera neza kumwanya wabigenewe mugihe cyibikorwa, bigira ingaruka zikomeye kubikorwa byukuri bya robo. Mubihe aho bisabwa guhuza ibikoresho bisobanutse neza, uburyo bwa 23 bushobora gukoreshwa muguhindura igikoresho ninkomoko kugirango tunoze neza muri rusange. Ubu buryo butuma sisitemu yo guhuza ibikoresho ikora neza mugupima ibipimo byinshi hamwe na kalibibasi ahantu hatandukanye no mu cyerekezo, bityo bigatuma imikorere ya robo ikora neza kandi ikabisubiramo.
Gutandukana kwa sisitemu zitandukanye zihuza bigira ingaruka zikomeye kumikorere yukuri hamwe nubushobozi bwo gusubiramo bwa robo. Kubwibyo, mugushushanya, gukora, no gukemura ibibazo bya sisitemu ya robo, birakenewe ko uha agaciro gakomeye kalibibasi no kugenzura neza sisitemu zitandukanye zihuza kugirango tumenye neza ko robot zishobora kurangiza neza kandi neza imirimo itandukanye.
Igihe cyo kohereza: Ukuboza-03-2024
