(1) Point-to-Point (PTP) Control Method This control method is designed to manipulate the position and orientation of industrial robot end-effectors at specific, discrete points within the working space. During operation, it only requires the robot to move rapidly and accurately between adjacent points without imposing any specific path on reaching the target points. The positioning accuracy and the time required for movement are the two primary technical indicators of this method. Characterized by its ease of implementation and lower precision requirements, the PTP control method is commonly used in tasks such as loading and unloading, handling, spot welding, and inserting components onto circuit boards, where maintaining the end-effector's position at the target points is sufficient.PreciseIn our operations, this method is relatively simple, yet achieving a positioning accuracy of 2-3um is appropriately challenging.
(2) Continuous Path Control (CP) Method: This control method involves the continuous control of the position and orientation of the end effector of industrial robots within the working space. It requires the end effector to move strictly along predefined paths and at specified speeds within a certain precision range, with adjustable speed, lubricated tracks, and smooth motion to accomplish the operational tasks. The joints of industrial robots move continuously and synchronously, allowing the end effector to form a continuous path. The primary technical indicator of this control method is the tracking accuracy and smoothness of the position and orientation of the end effector, commonly used in arc welding, painting, deburring, and inspection machines.
(3) Torque Control Methods: During assembly and handling tasks such as picking up and placing objects, in addition to...CorrectIn addition to positioning, the force or torque applied must also be appropriately adjusted, which necessitates the use of (torque) servo methods. The principle of this control method is fundamentally similar to that of position servo control, but the input and response quantities are not position signals, but force (torque) signals. Therefore, a force (torque) sensor is necessary in the system. Sometimes, adaptive control is also achieved using proximity, sliding, and other sensing functions.
(4) Intelligent Control Methods: The intelligent control of robots is achieved by acquiring common sense about the surrounding environment through sensors and making corresponding decisions based on an internal knowledge base. The adoption of intelligent control techniques enables robots to possess strong environmental adaptability and self-learning capabilities. The development of intelligent control techniques relies on the rapid advancement of artificial intelligence fields such as artificial neural networks, genetic algorithms, genetic programming, and expert systems in recent years. Perhaps this form of control gives industrial robots a genuine taste of "artificial intelligence," but it is also challenging to master, heavily depending on the precision of components, in addition to algorithms.
In terms of control substance, industrial robots are still predominantly at a relatively basic stage of spatial positioning control, lacking significant intelligence. They can be likened to merely a relatively sensitive mechanical arm, which is still a long way from resembling a human.
