Izinhlobo zezenzo zamarobhothi zingahlukaniswa ikakhulukazi zibe izenzo ezihlanganyelwe, izenzo eziqondile, izenzo ze-A-arc, nezenzo ze-C-arc, ngayinye enendima yayo ethile kanye nezimo zohlelo lokusebenza:
1. Ukunyakaza Okuhlangene(J):
Ukunyakaza okuhlangene kuwuhlobo lwesenzo lapho irobhothi liya endaweni ecacisiwe ngokulawula ngokuzimela ama-engeli e-eksisi ehlangene ngayinye. Ekunyakazeni okuhlanganyelwe, amarobhothi akanandaba ne-trajectory ukusuka endaweni yokuqala ukuya endaweni eqondiwe, kodwa alungise ngokuqondile ama-engeli e-eksisi ngayinye ukuze afinyelele indawo eqondiwe.
Umsebenzi: Ukunyakaza okuhlangene kulungele izimo lapho irobhothi lidinga ukuhanjiswa ngokushesha endaweni ethile ngaphandle kokucabangela indlela. Ngokuvamile zisetshenziselwa ukubeka irobhothi ngaphambi kokuqala ukusebenza okunembile noma ezimeni zokuma ezimbi lapho kungadingeki ukulawulwa kwe-trajectory.
2. Ukunyakaza Komugqa(L):
Isenzo somugqa sisho ukunyakaza okunembayo kwerobhothi ukusuka kwelinye iphuzu ukuya kwelinye endleleni ewumugqa. Ngokunyakaza komugqa, isiphetho (i-TCP) sethuluzi lerobhothi sizolandela umzila womugqa, noma ngabe i-trajectory ingekho emgqeni esikhaleni esihlanganyelwe.
Umsebenzi: Ukunyakaza ngomugqa kuvame ukusetshenziswa ezimeni lapho imisebenzi eqondile idinga ukwenziwa endleleni eqondile, njengokushisela, ukusika, ukupenda, njll., ngoba le misebenzi ivamise ukudinga ukuphela kwethuluzi ukuze kugcinwe inkombandlela kanye nobudlelwano besikhundla indawo yokusebenza.
3. Ukunyakaza kwe-Arc (A):
Ukunyakaza okugobile kubhekisela endleleni yokwenza ukunyakaza okuyindilinga endaweni emaphakathi (iphoyinti loguquko). Kulolu hlobo lwesenzo, irobhothi lizosuka endaweni yokuqala liye endaweni yenguquko, bese lidweba i-arc ukusuka endaweni yoshintsho kuze kube sekupheleni.
Umsebenzi: Isenzo se-arc sivame ukusetshenziswa ezimeni lapho kudingeka khona ukulawulwa kwendlela ye-arc, njengemisebenzi ethile yokushisela nokupholisha, lapho ukukhethwa kwamaphoyinti okushintsha kungase kuthuthukise ukushelela kokunyakaza nesivinini.
4. I-Circular Arc Motion(C):
Isenzo se-C arc ukunyakaza okuyindilinga okufezwa ngokuchaza amaphuzu okuqala nawokugcina e-arc, kanye nephuzu elengeziwe (iphoyinti lokudlula) ku-arc. Le ndlela ivumela ukulawula okunembe kakhudlwana kwendlela ye-arc, njengoba ingancikile kumaphuzu oshintsho njengesenzo se-A-arc.
Umsebenzi: Isenzo se-C arc futhi sifanele imisebenzi edinga ama-arc trajectories, kodwa uma kuqhathaniswa nesenzo se-arc, singanikeza ukulawulwa kwe-arc okunembe kakhudlwana futhi sifanele imisebenzi yomshini enembile enezidingo eziqinile zemizila ye-arc. Uhlobo ngalunye lwesenzo lunezinzuzo zalo ezithile kanye nezimo ezisebenzayo, futhi lapho amarobhothi ehlela, kuyadingeka ukukhetha uhlobo lwesenzo olufanele ngokusekelwe ezimfuneko ezithile zohlelo lokusebenza.
Ukunyakaza okuhlangene kulungele ukumiswa ngokushesha, kuyilapho ukunyakaza okuqondile nokuyisiyingi kulungele ukusebenza okunembile okudinga ukulawulwa kwendlela. Ngokuhlanganisa lezi zinhlobo zesenzo, amarobhothi angaqedela ukulandelana kwemisebenzi eyinkimbinkimbi futhi azuze ukukhiqizwa okuzenzakalelayo okunembayo okuphezulu.
Isikhathi sokuthumela: Jul-29-2024
