There are several aspects of the mechatronics challenge in robotics. In the previous post, I hinted at some, but on reflection the list is significant and all the issues should be considered.
Managing the trajectory is a challenge on computing level just to crunch the numbers and resolve the mechanical organization of the robot into the individual axes of motion. If we assume the move profiles are processed before a move is initiated, that task by itself pales in comparison to monitoring the individual axes on the fly and executing following window errors on all axes so that any mechanical error will bring the robot to a halt. Then, when the robot is halted, what exactly constitutes a “safe” condition? Hold position? Return to home at low speed? Everything needs to be well defined before a system can be put into operation.
线性或笛卡尔系统的准确性很难应对。在谈论5,6和7轴机器人时，这要困难得多。这不像是数值控制的机床，其中所有轴都在固体工具上，并且操作的参考点和几何形状相对简单，即使可以对其进行编程非常复杂的交互。在这种情况下，每个轴都会在公差堆叠中造成误差。因此，通常对机器人本身的机械整合给予额外的关注，以最大程度地减少这些因素。使用高还原比和低质量的精确环形齿轮还原器是机器人的一种方法。
来自任何单个轴的力反馈都通过扭矩（电流）环处理在单个轴放大器和电动机之间。在空间中移动时，问题变得复杂。需要多少力量？这取决于机器人需要走的速度。克服执行器本身的质量与移动负载所需的力所需的力量是多少。当人类与机器人的互动发生时，这将成为一个巨大的关注点。机器人不得施加会伤害人类的力或速度。必须允许人类克服机器人的执行器系统。因此，超轻型系统必须使用高度动态的控制器设计，以满足这些特殊要求。
Because of the unique nature of robot controllers, ntegration with other controls is often difficult. Robot controllers require stand-alone operation due to the critical nature of the how they operate. Integration with other control systems can be done with I/O handshaking or high speed communications, but it must be foolproof.
Lastly, integration with the environment an open ended aspect having more to do with the application than the basic technology. If the robot is going to perform the DARPA Automomous Vehicle Challenge, well, that is a whole different matter. But even on the factory floor, integration with the environment is not simple. Vision systems may be required to find the object and it’s orientation so the robot can acquire it. The speed and intelligence of the vision system now become key to the success of the application.
Robots continue stretch the limits and definitions of the things we call motion control.
Filed Under:执行者,机甲提示,线性运动•幻灯片,Robotics • robotic grippers • end effectors
