350005 運(yùn)動(dòng)控制模塊是機(jī)器人控制器最核心的功能模塊，主要負(fù)責(zé)根據(jù)接收到的運(yùn)動(dòng)命令，進(jìn)行運(yùn)動(dòng)學(xué)解算或者軌跡規(guī)劃運(yùn)算，得到在每個(gè)伺服控制周期內(nèi)各個(gè)關(guān)節(jié)的角度值，并發(fā)送到伺服驅(qū)動(dòng)系統(tǒng)，使機(jī)器人的末端可以在三維空間中完成指定的路徑或者姿態(tài)變化。此外，350005 運(yùn)動(dòng)控制模塊還可以分為伺服電機(jī)運(yùn)動(dòng)模塊、步進(jìn)電機(jī)運(yùn)動(dòng)模塊、氣缸運(yùn)動(dòng)模塊等子模塊，分別負(fù)責(zé)不同類(lèi)型的運(yùn)動(dòng)控制。例如，伺服電機(jī)運(yùn)動(dòng)模塊主要由交流伺服電機(jī)、伺服電機(jī)驅(qū)動(dòng)器、減速機(jī)和編碼器組成，實(shí)現(xiàn)對(duì)換擋角度的精確控制。步進(jìn)電機(jī)運(yùn)動(dòng)模塊由交流步進(jìn)電機(jī)和步進(jìn)電機(jī)驅(qū)動(dòng)器、編碼器組成，編碼器安裝在擺板的轉(zhuǎn)軸上將位置信號(hào)反饋給PLC組成閉環(huán)控制。氣缸運(yùn)動(dòng)模塊的控制主要由PLC發(fā)出控制信號(hào)給控制電磁閥的繼電器打開(kāi)相應(yīng)的氣路完成對(duì)應(yīng)動(dòng)作。

350005

350005 運(yùn)動(dòng)控制模塊的工作原理可以分為三個(gè)主要步驟：信號(hào)采集、處理和執(zhí)行。首先，傳感器被用于采集目標(biāo)物體的位置、速度和力量等信息，這些信息會(huì)被轉(zhuǎn)化成電信號(hào)并傳送給控制器。在這個(gè)階段，傳感器起到一個(gè)信號(hào)采集的作用，將物體的運(yùn)動(dòng)信息轉(zhuǎn)化為電信號(hào)，然后傳遞給控制器進(jìn)行處理。其次，350005 控制器會(huì)對(duì)這些電信號(hào)進(jìn)行處理?？刂破鲿?huì)根據(jù)接收到的電信號(hào)計(jì)算出所需的控制指令，這個(gè)過(guò)程涉及到運(yùn)動(dòng)學(xué)解算或者軌跡規(guī)劃運(yùn)算，以確定每個(gè)伺服控制周期內(nèi)各個(gè)關(guān)節(jié)的角度值。在這個(gè)階段，控制器起到一個(gè)處理信號(hào)的作用，通過(guò)計(jì)算得出控制指令。最后，350005 控制器會(huì)將指令傳遞給執(zhí)行器，執(zhí)行器會(huì)根據(jù)指令控制電動(dòng)驅(qū)動(dòng)器，從而實(shí)現(xiàn)對(duì)物體的運(yùn)動(dòng)控制。

350005

The 350005 motion control module is the core functional module of the robot controller, mainly responsible for performing kinematic calculations or trajectory planning operations based on the received motion commands, obtaining the angle values of each joint in each servo control cycle, and sending them to the servo drive system, so that the end of the robot can complete the specified path or attitude changes in three-dimensional space. In addition, the 350005 motion control module can also be divided into sub modules such as servo motor motion module, stepper motor motion module, cylinder motion module, etc., which are responsible for different types of motion control. For example, the servo motor motion module is mainly composed of AC servo motors, servo motor drivers, reducers, and encoders to achieve precise control of shifting angles. The stepper motor motion module consists of an AC stepper motor, a stepper motor driver, and an encoder. The encoder is installed on the rotation axis of the swing plate and feeds back the position signal to the PLC to form a closed-loop control. The control of the cylinder motion module is mainly achieved by the PLC sending control signals to the relay of the control solenoid valve to open the corresponding air circuit and complete the corresponding action.

350005

The working principle of the 350005 motion control module can be divided into three main steps: signal acquisition, processing, and execution. Firstly, sensors are used to collect information on the position, velocity, and force of the target object, which is then converted into electrical signals and transmitted to the controller. At this stage, the sensor plays a signal acquisition role, converting the motion information of the object into electrical signals, and then transmitting them to the controller for processing. Secondly, the 350005 controller will process these electrical signals. The controller will calculate the required control instructions based on the received electrical signals, which involves kinematic solving or trajectory planning operations to determine the angle values of each joint in each servo control cycle. At this stage, the controller plays a role in processing signals and calculates control instructions. Finally, the 350005 controller will transmit instructions to the actuator, which will control the electric drive according to the instructions, thereby achieving motion control of the object.