Robot System

The elements of manipulator control include work sequence, arrival position, action time, movement speed, acceleration and deceleration, etc.

    The control of the manipulator is divided into point position control and continuous trajectory control.

    The control system can be designed with digital sequence control according to the requirements of the action. It must first compile a program to store it, and then control the manipulator to work according to the prescribed program.

    There are two ways to store programs: separate storage and centralized storage. Separate storage is to store the information of various control factors in two or more storage devices, such as sequence information stored in the latch plate, cam drum, perforated belt; position information is stored in the time relay, constant speed drum, etc.; Centralized storage is to store all the information of various control factors in a storage device, such as magnetic tape, drum, etc. This method is used in situations where sequence, position, time, speed, etc. must be controlled at the same time, that is, under continuous control.

    The latch board is used in occasions where the program needs to be changed quickly. To change a program, only one plug board can be replaced, and the same plug-in can be used repeatedly; the length of the program contained in the punched tape can be unlimited, but if an error occurs, it must be replaced completely; the information capacity of the punched card is limited. But it is easy to replace, save, and can be reused; the magnetic core and drum are only suitable for occasions with large storage capacity. As for which control element to choose, it is determined according to the complex and precise procedures of the action.

    For manipulators with complex movements, a reproducing control system is adopted. More complex manipulators use digital control systems, small computers or microprocessor-controlled systems.

    The control system uses the pin plate the most, followed by the cam drum. It is equipped with many cams, each cam is assigned to a motion axis, and the drum moves in one cycle to complete a cycle