Ubwoko bwibikorwa bya robo birashobora kugabanywa cyane cyane mubikorwa bihuriweho, ibikorwa byumurongo, ibikorwa bya A-arc, na C-arc, buri kimwekimwe gifite uruhare rwihariye hamwe nibisabwa:
1. Icyerekezo rusange(J):
Guhuriza hamwe ni ubwoko bwibikorwa aho robot yimukira mumwanya runaka mugenga kwigenga kugenzura inguni ya buri murongo. Mugihe cyo guhuriza hamwe, robot ntabwo yitaye kuri trayektori kuva aho itangirira kugera aho igenewe, ariko ihinduranya neza impande zose kugirango ugere kumwanya wintego.
Imikorere: Kwimuka bihuye nibihe aho robot igomba kwimurwa byihuse kumwanya runaka utitaye kumuhanda. Bakunze gukoreshwa mugushira robot mbere yo gutangira ibikorwa neza cyangwa mubihe bigoye aho kugenzura inzira bidasabwa.
2. Icyerekezo(L):
Igikorwa cyumurongo bivuga kugendagenda neza kwa robo kuva kumurongo umwe ujya kumurongo unyuze kumurongo. Mumurongo ugenda, amaherezo ya TCP) igikoresho cya robo azakurikiza inzira yumurongo, kabone niyo inzira yaba idafite umurongo mumwanya uhuriweho.
Imikorere: Icyerekezo cyumurongo gikunze gukoreshwa mubihe aho ibikorwa byukuri bigomba gukorwa munzira igororotse, nko gusudira, gukata, gushushanya, nibindi, kuko ibyo bikorwa akenshi bisaba igikoresho cyanyuma kugirango gikomeze icyerekezo gihoraho nubusabane bwumwanya kuri ubuso bwakazi.
3. Icyerekezo cya Arc (A):
Icyerekezo kigoramye bivuga uburyo bwo gukora uruziga runyuze hagati (point point). Muri ubu bwoko bwibikorwa, robot izava aho itangirira yerekeza aho inzibacyuho, hanyuma ishushanya arc kuva aho inzibacyuho igeze.
Imikorere: Igikorwa cya arc gikunze gukoreshwa mubihe aho inzira ya arc isabwa kugenzura, nkibikorwa bimwe na bimwe byo gusudira no gusya, aho guhitamo ingingo zinzibacyuho bishobora guhindura imikorere yihuta kandi yihuta.
4. Uruziga ruzenguruka(C):
Igikorwa C arc nigikorwa cyizunguruka cyakozwe mugusobanura intangiriro nimpera ya arc, kimwe ninyongera (point point) kuri arc. Ubu buryo butuma habaho kugenzura neza inzira ya arc, kuko idashingiye ku nzibacyuho nkibikorwa bya A-arc.
Imikorere: Igikorwa C arc nacyo gikwiranye nimirimo isaba inzira ya arc, ariko ugereranije nigikorwa cya arc, irashobora gutanga igenzura ryuzuye rya arc kandi irakwiriye kubikorwa byo gutunganya neza hamwe nibisabwa bikomeye kumihanda ya arc. Buri bwoko bwibikorwa bufite ibyiza byihariye nibishobora gukoreshwa, kandi mugihe porogaramu za robo, birakenewe guhitamo ubwoko bwibikorwa bukwiye bushingiye kubisabwa byihariye.
Kwimuka gufatanije birakwiriye guhagarara byihuse, mugihe umurongo nu ruziga bikwiranye nibikorwa byuzuye bisaba kugenzura inzira. Muguhuza ubu bwoko bwibikorwa, robot irashobora kurangiza imirimo igoye kandi ikagera kubikorwa byikora neza.
Igihe cyo kohereza: Nyakanga-29-2024
