The commonly used welding Sierra Leone Sugar Daddy welding robots belong to the first generationSierra Leone SugarIndustrial robot, its basic working principle is teaching and reproduction. Teaching is also called guidance, that is, the user guides the Sierra Leone Sugar Daddy robot and operates it step by step according to actual tasks. Robots guiding Sierra Leoneans Sugardaddy through SL EscortsDuring the process, the position, posture, movement parameters, process parameters, etc. of each movement taught are automatically memorized, and automatically Sierra Leone SugarCreate a program that continues to execute all operations. After completing the teaching, you only need to give the robot a start command, and the robot will accurately follow the teaching actions and complete all operations step by step. This is teaching and reproduction. The important working principles to achieve the above functions are briefly described as follows: (1) Robot system structure A general industrial robot is generally composed of three interrelated parts according to its functions: ManipulatorSL Escorts assembly, controller, and teaching system, as shown in the figure. The manipulator assembly is the execution mechanism of the robot, which consists of a driver, transmission mechanism, robot arm, joints, final controller, and external sensors. Its task is to accurately ensure that the final operator’s requested position, position and complete its activities. The controller is the robot’s Sierra Leoneans Escortnervous center. It consists of computer hardware, software and some special circuits. Its software includes controller system software, robot special language, robot kinematics, dynamics software, robot control software, robot self-diagnosis, white SL EscortsMaintenance Sierra Leoneans Sugardaddy maintenance service software, etc., which handles all information during the robot’s work process and controls all its actions. The teaching system is the interactive interface between the robot and humans. During the teaching process, it will control all aspects of the robot. action and sends all its information into the memory of the controller. It is essentially a dedicated smart terminal. (2) Robot arm kinematics The robot arm is composed of several rigid rods connected in series by joints that twist or change positions. It is an open-loop joint chain, SL EscortsOne end of the open chain is fixed on the base, the other end is unrestrained, and the final end is installedSierra Leoneans SugardaddyManipulator (such as a welding gun), when the robot is operating, the front end of the robot armSierra Leone SugarThe final manipulator must Sierra Leone Sugar be in a position and posture that is compatible with the workpiece being processed, and these positions and Sierra Leone Sugar pose is Sierra Leoneans Escort consists of several arms Sierra Leone Sugar is broken down by the movement of joints. Therefore, in robot motion control, it is necessary to understand the relationship between the variable space of each joint of the robot arm and the position and posture of the final manipulator. This is the robot kinematics model. After the geometric structure of a robot’s manipulator arm is determined, its kinematics model can be determined, which is the basis for robot motion control. There are two basic topics in robot arm kinematics. 1) For a given robotic arm, all the known parametersSL Escorts Node angle vector g(f)=[gl(t), g2(t),…gn(i)], where n is not affected by Constraint. Finding the position and posture of the final manipulator relative to the reference coordinate system is called Sierra Leoneans Sugardaddy a kinematics problem. During the robot teaching process, the robot controller performs kinematic problem calculations point by point. 2) For a given robot arm, the desired position and posture of the end manipulator in the reference coordinate system are known, and the vectors of each joint are obtained. , called the kinematics Sierra Leoneans Escort inverse problem. During the robot reproduction process, the robot controller moves point by point. Learn the operation of inverse problems and divide the angular vector into each joint of the robot arm. The operations of kinematics problems are all done using D-SL EscortsSierra Leone Sugar DaddyH method, this method uses a 4X4 homogeneous transformation matrix to describe the spatial relationship between two adjacent rigid body members, and The problem is simplified to pursue the equivalent 4X4 homogeneous transformation matrix. The SL Escorts operation can be solved in several ways, the most commonly used one is. Matrix algebra, iterative or geometric methods ob are not introduced in detail here. For high-speed, high-precision robots, a dynamic model must also be established, because currently common industrial robots (including welding robotsSierra Leoneans Escort) The maximum movement speed is within 3m/s, and the accuracy is not higher than 0.1mm, so only simple dynamic control is done. ( 3) Sierra Leoneans Sugardaddy Robot trajectory planning: the movement trajectory of the end of the robot manipulator from the starting point (including position and posture) to the starting point Space SongSierra Leone Sugar Daddy line callPath, the task of trajectory planning is to use a function to “interpolate” or “approximate” a given path and generate a series of “turns” along the time axis Sierra Leone SugarControl Set Point”, used to control machine Sierra Leone Sugar Daddy manipulator movement.
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