Explorando os 4 principais métodos de controle de robôs industriais

Exploring the Top 4 Industrial Robot Control Methods

The most used robots on the market are industrial robots, which are also the most mature and perfected type of robot. The wide application of industrial robots is attributed to their diverse control modes.

Based on different operational tasks, they can be mainly divided into four types: point-to-point control, continuous trajectory control, force (torque) control and intelligent control. Let's understand this briefly.

01 Point-to-Point Control (PTP)

This control method only regulates the position and orientation of the robot's end effector at certain discrete points in the operating space. During control, the robot only needs to move quickly and accurately between adjacent points; the trajectory to reach the target point is not specified.

Positioning accuracy and time required for movement are the two main technical indicators of this control method. With its easy implementation and low positioning accuracy requirement, point-to-point control is often used in loading and unloading, handling, spot welding and component placement on circuit boards, where only the precise positioning of the end effector at the target point is required. mandatory.

This method is relatively simple, but achieving a positioning accuracy of 2-3μm is quite challenging.

02 Continuous Trajectory Control (CP)

This control method continuously controls the position and orientation of the robot's end effector in the operating space. It requires strict adherence to predefined trajectories and speeds within a certain accuracy range, ensuring controllable speed, smooth trajectory and stable movement for task completion.

The continuous and synchronized movement of all joints of the industrial robot allows the end effector to form a continuous trajectory. The main technical indicators of this control method are the accuracy of trajectory tracking and the stability of the robot's end effector.

This control method is commonly used in arc welding, painting, deburring and inspection robots.

03 Force Control (Torque)

When assembling or picking up objects, in addition to precise positioning, the force or torque used must be adequate.

In these cases, force (torque) servo control is necessary. The principle of this control method is similar to position servo control, but the input and feedback are not position signals, but force (torque) signals.

Therefore, a force (torque) sensor must be present in the system. Adaptive control is sometimes accomplished using proximity, sliding, and other sensor functions.

04 Smart Control

Intelligent control of robots involves acquiring knowledge of the surrounding environment through sensors and making corresponding decisions based on the robot's internal knowledge base.

Intelligent control technology gives robots strong environmental adaptability and self-learning ability.

The development of intelligent control technology depends on the rapid advancement of artificial intelligence in recent years, including artificial neural networks, genetic algorithms and expert systems.

This control method gives industrial robots a true flavor of “artificial intelligence,” but it is also the most difficult to control effectively. In addition to the algorithm, a lot also depends on the accuracy of the components.

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