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    Classification of Robots Based On Control Methods.

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    Nani Kumar
    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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    Classification of Robots Based On Control Methods.

    Uploaded by

    Nani Kumar
    3K views9 pages
    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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    classification of robots based on control methods.

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    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.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    3K views9 pages

    Classification of Robots Based On Control Methods.

    Uploaded by

    Nani Kumar
    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.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 9
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    The key takeaways are that there are non-servo and servo control methods for robots, with servo control allowing for point-to-point and continuous path control using closed loop feedback.

    The different types of robot control methods discussed are non-servo control, servo control, point-to-point control, and continuous path control.

    Point-to-point control only programs the end points, with the controller computing the path between them. The user can control velocity and the motion can be linear or piecewise linear. Feedback is used to ensure joints reach desired locations.

    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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