| 摘要 |
<p>Some general principles are used for controlling the movement of automated industrial workpiece handling robotic machines to ensure that the arrival of a workpiece and a robot handling head coincide correctly when required on the production line. A robotic machine (1) typically has a telescopic, movable arm (2) carrying some tool which is required to operate on workpieces (4, 5) as they move along a path (3) in a production line. The behaviour of the robot and its arm (2) are determined by a programme and the arm position must coincide with that of a workpiece at the beginning of each operation. This is ensured by a set of position transducers (6), which determine the workpiece positions and feed to the programme control a series of correction signals which affect the robot (1) in the required manner.</p> |
