Ni gute ibyuma bipima ubushobozi bwo hejuru bigira uruhare mu gukora neza kwa roboti zifite umurongo mugari w'ibice bitatu?

Intangiriro
Mu rwego rw'imikorere y'inganda, gukora neza ni ingenzi cyane. Roboti zifite imiterere itatu byahindutse ibikoresho by'ingenzi mu nganda zitandukanye, kuva mu nganda no mu gupakira kugeza ku guteranya ibikoresho by'ikoranabuhanga. Izi robots zagenewe gukora ku buryo zikoresha imirasire itatu y'umurongo - X, Y, na Z - bigatuma zibasha kugenda imbere no gusubira inyuma, ku ruhande rumwe, no hejuru no hasi. Ubuhanga n'ubwizerwe bw'izi robots ahanini biterwa n'ikoranabuhanga rigezweho ryo gukodesha ibintu mu buryo bwo hejuru ryinjijwe mu miterere yazo.

Ibice bigize Robot ifite umurongo wa gatatu
Kugira ngo dusobanukirwe uburyo ibyuma bitanga amakuru ku buryo bworoshye bigira uruhare mu gukora neza, ni ngombwa kumenyera ibice by'ingenzi bya robo ifite umurongo wa gatatu:
Servo Moteri
Moteri za Servo ni zo zigize imikorere ya roboti. Izi ni moteri za DC zidafite uburoso zifite ibikoresho bigenzura hamwe n’ibikoresho byubatswemo kugira ngo bitange ibitekerezo. Iyi moteri itanga ibitekerezo ku mwanya wayo, bigatuma moteri ikomeza kugenzura neza uko igenda. Iyi gahunda yo gusubiza ibitekerezo ni ingenzi cyane kugira ngo igere ku rwego rwo hejuru rw’ubunyangamugayo bukenewe mu nganda.
Inzira zo kuyobora umurongo
Ibi bice byorohereza urujya n'uruza rwa robo ku migozi itatu. Bituma igenda neza kandi neza, bigabanya kwangirika no kwangirika, ibyo bikaba byatera amakosa.
Ishami rishinzwe kugenzura
Igice cy’ubuyobozi gikora nk'ubwonko bwa robo. Cyakira ibimenyetso byinjiye kandi cyohereza amabwiriza kuri moteri za servo, bikagena umuvuduko wazo, icyerekezo cyazo, n'aho ziherereye. Abagenzuzi bagezweho bashobora gutunganya algorithmi zikomeye no gutanga ibitekerezo mu gihe nyacyo, bakareba ko ingendo za robo zikorwa neza.

Imashini zikora neza cyane: Urufunguzo rwo gukora neza
Imashini zishyiraho imiterere yo hejuru
Moteri za Servo mu byiciro bitatuRoboti zo mu bwoko bwa Axis Zifite ibikoresho byo gupima ibintu bifite ubushobozi bwo gutanga ibitekerezo neza ku mwanya wa moteri. Izi encoders zishobora kubona impinduka ntoya mu mwanya wa moteri, bigatuma sisitemu yo kugenzura ikora impinduka mu buryo bufatika. Uru rwego rw'ibitekerezo rutuma roboti ishobora kugumana ubuhanga mu buryo buhamye, ndetse no mu gihe cy'ibikorwa byihuse cyane. Urugero, SFD-M encoder ya Kollmorgen itanga ubushobozi bwo kugenzura ibintu bwa biti 24 kuri buri revolution, itanga pulses 16,777,216 kuri buri revolution, buri pulse ikaba ingana na arcsegonda 0.0772. Ubu buryo bwo gupima ibintu bufite ubushobozi bwo kugenzura no gushyira ibintu mu mwanya neza cyane.
Sisitemu zo kugenzura imiyoboro ifunze
Gukoresha sisitemu zo kugenzura zifunganye ni ikindi kintu cy'ingenzi mu kwemeza ko ari inyangamugayo. Muri sisitemu yo kugenzura ifunganye, encoder itanga ibitekerezo bihoraho kuri controller, ibi bikaba bihindura umuvuduko wa moteri n'aho iherereye hakurikijwe uko bikwiye. Iyi feedback loop yemerera robo gukosora amakosa yose ako kanya, igenzura ko buri gikorwa gikozwe neza cyane. Encoder zifite ubushobozi bwo kugenzura ifunganye zifite uruhare runini muri iyi sisitemu mu gutanga amakuru nyayo akenewe kugira ngo controller ikore impinduka nyazo.
Abagenzuzi ba PID
Ibikoresho bigenzura imiterere y’ibice (PID) bikunze gukoreshwa muri sisitemu za moteri za servo kugira ngo bigerweho neza. Mu guhindura imiterere y’ibice (P), integral (I), na derivative (D), umugenzuzi ashobora kunoza uburyo moteri isubiza ibimenyetso by’ibice. Ibi bituma robo igumana umuvuduko n’aho ihagaze, bigabanyiriza amakosa kandi bikongera ubuziranenge muri rusange. Ibikoresho bipima ubushobozi bwo hejuru bitanga ibitekerezo birambuye bikenewe kugira ngo abagenzuzi ba PID bakore neza.

Porogaramu n'Ibyiza by'Isi Nyayo
Gutera inshinge
Mu bikorwa byo gushushanya hakoreshejwe inshinge, robo zifite umurongo mugari eshatu zifite encoders zikomeye zikoreshwa mu gupakira no gupakurura ibumba. Ubuhanga bw'izi robo butuma buri bumba rifatwa neza, bigabanya ibyago byo kwangirika no kongera umusaruro. Ubushobozi bwo kugumana ubuziranenge bwinshi ku muvuduko wo hejuru ni ingirakamaro cyane muri ubu buryo, kuko butuma habaho igihe cyo gukora ibumba ryihuta kandi umusaruro ukaba mwinshi.
Ibikorwa byo Gutora no Gushyira Ahantu
Imirimo yo gutoranya no gushyiramo isaba ubushishozi bwinshi kugira ngo ibice bishyirwe neza ku mirongo yo guteranya. Imashini zikora neza mu ma robot afite umurongo wa gatatu zishobora kugera ku bushobozi bukenewe, bigatuma ziba nziza kuri izi porogaramu. Izo robot zishobora gukora ibice byinshi bitandukanye, kuva ku bice bito by'ikoranabuhanga kugeza ku bintu binini, mu buryo buhamye.
Gupakira no Gupakira Pallet
Roboti zifite umurongo wa gatatu nazo zikoreshwa cyane mu gupakira no gushyiramo paleti. Ubuhanga bwazo n'ubushobozi bwazo bwo gusubiramo ibintu byemeza ko ibicuruzwa bipakirwa neza kandi bigashyirwa hamwe neza, bigabanya ibyago byo kwangirika no kunoza imikorere muri rusange. Imashini zikora code zifite ubushobozi bwo hejuru zigira uruhare muri ubu buryo bwo gutanga ibitekerezo nyabyo ku myanya, zigatuma robo ikora imirimo isubiramo neza kandi neza.

Ibyiza byo gukoresha encoders zifite ubushobozi bwo gukora encoders mu buryo buhanitse muri robots zifite umurongo mugari (Three-Axis Robots)
Ubuhanga bwo hejuru no gusubiramo ibintu
Udukoresho two gupima ibintu dufite ubushobozi bwo hejuru dutanga ubuziranenge bwo hejuru no gusubiramo, tugakora ibishoboka byose kugira ngo buri gikorwa gikorwe neza cyane. Ibi ni ingenzi mu mikoreshereze aho no kunyura mu buryo buto bishobora gutera inenge cyangwa kudakora neza. Urugero, SFD-M encoder itanga ubuziranenge busanzwe buri munsi ya ±1 arc minute kuri 25ºC, ibi bikaba bihagije cyane ku mikoreshereze myinshi y’inganda.
Gukoresha neza ingufu
Moteri za Servo zifite encoders nziza cyane zikoresha ingufu nke kurusha moteri zisanzwe zikoresha amashanyarazi. Zikoresha ingufu nke, zigabanya ikiguzi cy'imikorere kandi zikaba amahitamo meza ku bigo bishaka kugabanya ikiguzi cy'umusaruro.
Koroshya guhuza
Roboti zifite umurongo wa gatatu zifite encoders nziza cyane zoroshye kuzishyira mu mishinga isanzwe ikoreshwa. Imiterere yazo yoroshye n'uburyo bwo kuzigenzura bituma zihuzwa n'uburyo butandukanye bwo kuzikoresha mu nganda.
Gukomera
Izi roboti zubatswe mu bice by’inganda bishobora kwihanganira imiterere mibi y’umusaruro. Imiterere yazo ikomeye ituma zitizerwa igihe kirekire kandi zigahagarara igihe gito. Udukoresho two gukodesha ibintu dufite ubushobozi bwo gukora mu bushyuhe bwinshi, nka SFD-M, twagenewe gukora mu bushyuhe bwinshi kandi turwanya amashanyarazi, bigatuma zikoreshwa mu bihe bitandukanye by’inganda.

Umwanzuro
Udukoresho two gukodesha ibintu dufite ubushobozi bwo hejuru bigira uruhare runini mu kwemeza ko robots zifite imiterere itatu zikora neza. Binyuze mu ikoranabuhanga rigezweho ryo gukodesha ibintu, sisitemu zo kugenzura ibintu zifunze, na PID controllers, izi robots zishobora kugera ku rwego rwo hejuru rwo gukora neza no gusubiramo. Imikoreshereze yazo mu gushushanya, gukora ibikorwa byo gutoranya no gushyira ibintu mu mwanya wabyo, no gupakira no gushyiramo udupapuro tw’ibumba bigaragaza ubuhanga bwazo n’imikorere yabyo mu nganda zitandukanye. Mu gihe inganda zikomeje gushaka ibisubizo by’imikorere inoze kandi iboneye, robots zifite imiterere itatu zifite imiterere ihanitse ziteguye gukomeza kuba inkingi y’ingenzi mu nganda zigezweho.