I-manipulator umshini osebenza ngezindlela eziningi ongenza ngokuzenzakalelayo ukulawula indawo futhi ungahlelwa kabusha ukuze ushintshe. Unamazinga amaningi enkululeko futhi ungasetshenziswa ukuhambisa izinto ukuze zenze umsebenzi ezindaweni ezahlukene ezahlukene. Ama-manipulator ezimboni awubuchwepheshe obusha emkhakheni wokulawula okuzenzakalelayo futhi aseyingxenye ebalulekile yezinhlelo zokukhiqiza zokukhiqiza zanamuhla.
Izingalo ze-manipulator zisetshenziselwa ukubamba izinto zokusebenza (noma amathuluzi) futhi zinezinhlobo ezahlukene zesakhiwo, njengokubopha, ukubamba kanye nezinhlobo zokufaka, kuye ngesimo, usayizi, isisindo, izinto kanye nezidingo zokusebenza zento ebanjiwe. Indlela yokunyakaza, ukuze isandla siqedele ukujikeleza okuhlukahlukene (ukunyakaza), ukunyakaza noma ukunyakaza okuhlanganisiwe ukuze kufezwe isenzo esinqunyiwe, kushintshe isikhundla kanye nokuma kwento ebanjiwe. Ukunyakaza okuzimele kwendlela yokunyakaza, njengokuphakamisa, ukushaya nge-telescoping nokujikeleza, kubizwa ngokuthi izinga lenkululeko ye-manipulator. Ukuze kubanjwe into kunoma yisiphi isikhundla kanye nokuqondiswa esikhaleni, kudingeka amazinga ayisithupha enkululeko. Izinga lenkululeko liyipharamitha ebalulekile ekwakhiweni kwe-manipulator. Lapho amazinga enkululeko engeziwe, kulapho ukuguquguquka kwe-manipulator kukhulu, kulapho ukuguquguquka kubanzi khona, futhi isakhiwo siyinkimbinkimbi kakhulu. Ngokuvamile, amarobhothi akhethekile anamazinga amabili kuya kwamathathu enkululeko. Uhlelo lokulawula lusetshenziselwa ukuqedela ukunyakaza okuthile ngokulawula injini yezinga ngalinye lenkululeko ye-manipulator. Luphinde luthole impendulo evela ezinzwa ukuze kwakheke ukulawula okuqinile kwe-closed-loop. Ingqikithi yesistimu yokulawula ivame ukwakhiwa yi-chip yokulawula okuncane njenge-microcontroller noma i-dsp, ehlelwe ukufeza umsebenzi owufunayo.
Ukuthuthukiswa okusheshayo kwemishini yokulawula izimboni kungenxa yokuthi indima yayo enhle iya ngokuya iqashelwa. Okokuqala, ingangena esikhundleni sokusebenza ngesandla; okwesibili, ingalandela inqubo ethile, isikhathi kanye nendawo ukuqedela ukudluliselwa nokulayisha nokukhipha izinto zokusebenza ngokwezidingo zenqubo yokukhiqiza; okwesithathu, ingasebenzisa amathuluzi omshini adingekayo okushisela nokuhlanganisa. Ngakho-ke, ingathuthukisa kakhulu izimo zomsebenzi zabasebenzi, ithuthukise kakhulu umkhiqizo wabasebenzi, futhi isheshise ijubane lokusetshenziswa kwemishini kanye nokwenza izinto ngokuzenzakalela kokukhiqiza kwezimboni. Ngenxa yalokho, amazwe asezimboni athuthukile aqaphela, futhi atshale imali eningi yezinto ezibonakalayo kanye nezimali ocwaningweni nasekusetshenzisweni. Ikakhulukazi ekushiseni okuphezulu, umfutho ophezulu, uthuli, umsindo kanye nezikhathi zomsakazo kanye nokungcola, ukusetshenziswa kubanzi kakhulu. EShayina, eminyakeni yamuva nje, kube nentuthuko esheshayo, futhi kwafezwa imiphumela ethile, ngokunaka komkhakha wezimboni.
Isikhathi sokuthunyelwe: Septhemba-07-2022