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Classification of Robots Based On Control Methods.

Servo control uses closed-loop feedback to precisely control the position, velocity, and other variables of each robotic joint during motion. There are two main types: point-to-point control, where only the end points are programmed and the path is computed by the controller; and continuous path control, where the entire motion path is controlled via closed-loop feedback. Robot programming is typically done either online using a teach pendant or lead-through programming, or offline using robot programming languages or task-level programming.

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5K views9 pages

Classification of Robots Based On Control Methods.

Servo control uses closed-loop feedback to precisely control the position, velocity, and other variables of each robotic joint during motion. There are two main types: point-to-point control, where only the end points are programmed and the path is computed by the controller; and continuous path control, where the entire motion path is controlled via closed-loop feedback. Robot programming is typically done either online using a teach pendant or lead-through programming, or offline using robot programming languages or task-level programming.

Uploaded by

Nani Kumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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CONTROL METHODS

Non Servo Control

 implemented by setting limits or mechanical stops for each


joint and sequencing the actuation of each joint to
accomplish the cycle

 end point robot, limited sequence robot, bang-bang robot

 No control over the motion at the intermediate points, only


end points are known

1
Servo Control

Servo Control

 Point to point Control

 Continuous Path Control

 Closed Loop control used to monitor position, velocity (other


variables) of each joint

2
Point-to-Point Control

 Only the end points are programmed, the path used to


connect the end points are computed by the controller.

 user can control velocity, and may permit linear or piece wise
linear motion.

 Feedback control is used during motion to ascertain that


individual joints have achieved desired location.

3
Point-to-Point Control

 Often used hydraulic drives, recent trend towards


servomotors

 loads up to 500lb and large reach

 Applications

a) pick and place type operations

b)palletizing

c) machine loading

4
Continuous Path Controlled

 In addition to the control over the endpoints, the path taken


by the end effector can be controlled

 Path is controlled by manipulating the joints throughout the


entire motion, via closed loop control

 Applications:

 spray painting, polishing, grinding, arc welding

5
ROBOT PROGRAMMING

 Typically performed using one of the following

 On line

a) Teach pendant

b) Lead through programming

 Off line

a) Robot programming languages

b) Task level programming

6
Use of Teach Pendant

 Hand held device with switches used to control the robot


motions

 End points are recorded in controller memory

 Sequentially played back to execute robot actions

 Trajectory determined by robot controller

 Suited for point to point control applications

7
Use of Teach Pendant

 Easy to use, no special programming skills required.

 Useful when programming robots for wide range of repetitive


tasks for long production runs.

 RAPID.

8
Lead Through Programming

 lead the robot physically through the required sequence of


motions.

 trajectory and endpoints are recorded, using a sampling


routine which records points at 60-80 times a second.

 when played back results in a smooth continuous motion.

 large memory requirements.

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