Analysis on control mode and characteristics of six axis industrial robot
All control of the 6-axis industrial robot is completed by a microcomputer. The other is decentralized (level) control, that is, multiple microcomputers are used to share the control of the robot. For example, when the upper and lower level microcomputers are used to jointly complete the control of the robot, the host computer is often used to be responsible for the management, communication, kinematics and dynamics calculation of the system, and send command information to the lower level microcomputers; As a subordinate slave, each joint corresponds to a CPU to perform interpolation operation and servo control processing, realize a given…