Methods of Managing Industrial Robots
Industrial robots have two main methods of control: programmed and adaptive.
Programmed Control
Programmed control is the simplest control system typically used in industrial settings. Robot models operating on this principle often lack a sensory component. All their actions are precise and uniform, and changing their movements requires reprogramming the robot. Various programs can be used for programming, such as VxWorks or Eclipse, as well as programming languages, including Forth, Oberon, Component Pascal, and the C system. The control device can be an industrial computer PC/104 or, less frequently, a MicroPC.
Adaptive Control
Adaptive control is suitable for robots equipped with a sensory system. This system receives signals detected by sensors placed around the robot. All the collected information is analyzed, and based on the results, an action is selected in response to the surrounding conditions, such as stopping, moving, or transitioning to the next work stage. In this case, programming is based on artificial intelligence methods. Manual control with the help of an operator is also possible, both remotely and stationary.
Principles of Managing Industrial Robots
Managing an industrial robot requires adherence to certain principles, specifically: feedback, complete control, and hierarchical structures. The hierarchical system divides the internal "consciousness" of the robot into layers that are responsible for the robot's overall behavior: trajectory, movements, and manipulations. Other layers control the operation of the motor mechanisms.
Complete Control System
The complete control system is essential for managing the drive. In cases where it is necessary to build a control system based on position (angle, tilt, etc.), feedback responds to set positions.
Functionality of Modern Industrial Robots
Modern models of industrial robots have expanded functionality. They not only provide feedback that responds to position, speed, and acceleration but can also react to the gripping position (reliability of the grip and accuracy of the position). There is also an analyzer for product quality, which, in the case of fragility of the part, allows for the construction of a special feedback system to control the force.
Automatic and Manual Control
Robot control can be either automatic or manual. Automatic control (ERP system) coordinates all actions according to specified program objectives. In the case of a non-automatic operating mode, the operator monitors the process from the operator's room.