What are the main factors included in the control system of a robotic arm? The factors controlled by a robotic arm mainly include the order of work, arrival position, action time, motion speed, acceleration and deceleration, etc.
The control of robotic arms can be divided into two types: point control and continuous trajectory control. The control system can design and select numerical sequence programs according to the requirements of the action.
It first needs to be programmed and stored, and then according to the prescribed program, the storage methods for controlling the working program of the robotic arm include separate storage and centralized storage.
Separate storage refers to storing the information content of various control factors separately in two or more storage devices, such as storing sequential information content in pin plates, cam drums, and perforated belts; The location information is stored in time relays, fixed speed rotary drums, etc; Centralized storage is the process of storing all information related to various control factors in a single storage device, such as magnetic tape, magnetic drum, etc. This method is used in places where sequence, position, time, speed, etc. must be controlled simultaneously, that is, in the case of continuous control. The pin board is used in places where rapid program changes are required.
Changing the program only requires extracting a different type of pin board, while the same plugin can be reused; The program length carried by the perforated tape can be unlimited, but if an error occurs, it needs to be completely replaced; The information content capacity of perforated cards is limited, but they are easy to disassemble, replace, store, and can be reused; Magnetic cores and drums are only suitable for places with large storage capacities. As for which control component to choose, it is determined according to the complex and precise program of the action. For robotic arms with complex movements, choose a learning and reproducing control system. More complex robotic arms are controlled by digital control systems, small computers, or microprocessors. The most commonly used control system is the pin plate, followed by the cam drum. It is equipped with many cams, each assigned to a motion shaft, and the drum completes one cycle after one revolution.
