Umahluko phakathi kwerobhothi yemizi-mveliso kunye nengalo ye-manipulator

A ingalo yokulawulasisixhobo soomatshini, esinokulawulwa ngokuzenzekelayo okanye ngokwenziwa;Irobhothi yemizi-mvelisoluhlobo lwezixhobo ezizenzekelayo, ingalo yesandla luhlobo lwerobhothi yemizi-mveliso, irobhothi yemizi-mveliso nayo inezinye iindlela. Nangona ezi ntsingiselo zimbini zahlukile, kodwa umxholo wesalathiso unokufana okuthile.

Ingalo ye-industrial manipulator yimatshini esisigxina okanye eshukumayo, eyakhiwe ngokuqhelekileyo yenziwe ngothotho lweendawo ezidibeneyo okanye ezityibilikayo ukuze zibambe okanye zishukumise izinto, ezikwaziyo ukulawula ngokuzenzekelayo, ucwangciso oluphindaphindwayo, kunye namanqanaba amaninzi enkululeko (i-axis). Isebenza ikakhulu ngentshukumo ethe tye ecaleni kwee-axes ze-X, Y, kunye ne-Z ukufikelela kwindawo ekujoliswe kuyo.
Irobhothi yemizi-mveliso sisixhobo somatshini esenza umsebenzi ngokuzenzekelayo, kwaye ngumatshini ofezekisa imisebenzi eyahlukeneyo ngamandla awo kunye nobuchule bawo bokulawula. Ingalawulwa ngabantu okanye isebenze ngokweenkqubo ezicwangcisiweyo kwangaphambili, kwaye iirobhothi zanamhlanje zemizi-mveliso nazo zinokusebenza ngokwemigaqo eyenziwe bubuchwepheshe bobuchwephesha bokwenziwa.

Ingalo ye-manipulator isetyenziswa kakhulu kushishino, kwaye iteknoloji ephambili equlethwe kuyo kukuqhuba nokulawula, kwaye ingalo ye-manipulator ngokubanzi lulwakhiwo olulandelelanayo.
Irobhothi yahlulwe ngokubanzi ngokwesakhiwo sothotho kunye nesakhiwo esihambelanayo: irobhothi ehambelanayo isetyenziswa kakhulu xa kufuneka ukuqina okuphezulu, ukuchaneka okuphezulu, isantya esiphezulu, akukho zithuba zinkulu zesithuba, isetyenziswa ngokukodwa ekuhleleni, ekuphatheni, ekulinganiseni intshukumo, izixhobo zoomatshini ezihambelanayo, ekucutshungulweni kwesinyithi, kwiindawo zokudibanisa iirobhothi, ujongano lweenqwelo-moya, njl. Irobhothi yothotho kunye nerobhothi ehambelanayo zenza ubudlelwane obuhambelanayo xa kusetyenziswa, kwaye irobhothi yothotho inendawo enkulu yokusebenza, enokuthintela isiphumo sokudibanisa phakathi kwee-axes zokuqhuba. Nangona kunjalo, i-axis nganye yendlela yokusebenza kufuneka ilawulwe ngokuzimeleyo, kwaye kufuneka ii-encoders kunye nee-sensors ukuphucula ukuchaneka kwentshukumo.