Jiangsu Tianqi Star robot share: Which kinds of control are used in three-axis manipulators?

Azimuth control of the three-axis manipulator: The azimuth control method generally determines the size of the tumbling speed through the frequency of the external input pulse, and determines the tumbling view through the number of pulses. There are also some full-servo manipulators (such as five-axis servo manipulators) controllers that can directly assign the speed and displacement through the communication type servo manipulator controller. However, because the orientation control has very accurate control and requirements for speed and orientation, it is mostly suitable for positioning equipment.

Speed control of the three-axis manipulator: the tumbling speed can be controlled through the analog input or the frequency of the pulse, and the speed mode can also be positioned when there is an outer loop PID control of the upper control device, but it is necessary to give the orientation signal of the motor or the orientation signal of the direct load to the upper reaction for calculation. The bearing mode of the three-axis servo manipulator also supports the direct load external ring to view the bearing signal, at this time, the encoder at the motor shaft end only views the motor speed, and the bearing signal is provided by the viewing equipment connected to the final load end, which has the benefit of reducing some faults in the transmission process of the base and increasing the positioning accuracy of the entire system.