robotics1
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robotics1 [2023/05/10 12:47] – creata admin | robotics1 [2024/02/07 10:27] – [Robot programming] admin | ||
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* [[https:// | * [[https:// | ||
* product inspection and testing | * product inspection and testing | ||
- | * [[https:// | + | * [[https:// |
These tasks are accomplished with high endurance, speed, and precision. | These tasks are accomplished with high endurance, speed, and precision. | ||
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* speed | * speed | ||
* accuracy and repeatability | * accuracy and repeatability | ||
- | * DOF (or //Degrees of Freedom//): number of independent motions which Is usually the same as the number of axes | + | * DOF (or //Degrees of Freedom//): number of independent motions, which is usually the same as the number of axes |
==== Types of robots ==== | ==== Types of robots ==== | ||
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There most common types of industrial robots are: | There most common types of industrial robots are: | ||
* [[https:// | * [[https:// | ||
- | * SCARA robots, which are 4 DOF fast, simple and accurate robots | + | * [[https:// |
- | * delta robots, which are 4 DOF very fast and low-inertia robots | + | * [[https:// |
The figure below shows a PUMA-like articulated robot with its six joints. | The figure below shows a PUMA-like articulated robot with its six joints. | ||
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The latter is much more convenient and is by far the most used, but requires //inverse kinematic// calculations to be performed by the robot controller, in order to find out joints position and velocity to get to the target. When doing so it should be considered that: | The latter is much more convenient and is by far the most used, but requires //inverse kinematic// calculations to be performed by the robot controller, in order to find out joints position and velocity to get to the target. When doing so it should be considered that: | ||
* there are more various configurations with the same target to choose from | * there are more various configurations with the same target to choose from | ||
- | * some configurations or some paths must be avoided because of [[https://www.mecademic.com/en/what-are-singularities-in-a-six-axis-robot-arm|singularities]]; | + | * some configurations or some paths must be avoided because of [[https://en.wikipedia.org/wiki/Industrial_robot# |
==== Robot programming ==== | ==== Robot programming ==== | ||
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{{: | {{: | ||
- | The teach pendant allows to program the robot by moving its end-effector to the desired positions, saving target points to be reached, specifying paths to follow and actions to be performed by the tool. Once finished the robot will repeat these steps autonomously. Such method, called on-line programming, | + | The teach pendant allows to program the robot by moving its end-effector to the desired positions, saving target points to be reached, specifying paths to follow and actions to be performed by the tool. Once finished the robot will repeat these steps autonomously. Such method, called |
robotics1.txt · Ultima modifica: 2024/03/13 11:52 da admin