The control system of a loading/unloading robot consists of corresponding hardware and software. The hardware components of the control system are described below.
The hardware mainly includes the following parts:
1. Sensors. These can be divided into internal and external sensors. Internal sensors are used to sense the robot's own state, detecting the position, speed, and acceleration of each joint. External sensors are used to sense the working environment and the state of the workpiece. External sensors include vision, force, touch, hearing, and slip sensors.
2. The robot's control unit. This generally consists of a micro or small computer and corresponding interfaces. Its function is to process various sensory information, execute the control software, and generate control commands.
3. The robot's joint servo drive system. This part's main function is to drive the joints according to the requirements of the task, based on the commands from the control unit.
