Ukurikije imyubakire, robot irashobora kugabanywamo ibice bitatu na sisitemu esheshatu, muribyo bice bitatu ni: igice cyumukanishi (gikoreshwa mugutahura ibikorwa bitandukanye), igice cyo kumva (gikoreshwa mukumenya amakuru yimbere nayimbere), igice cyo kugenzura ( Igenzura robot kugirango urangize ibikorwa bitandukanye). Sisitemu esheshatu ni: sisitemu yo guhuza abantu na mudasobwa, sisitemu yo kugenzura, sisitemu yo gutwara, sisitemu yimashini, sisitemu yo kumva, hamwe na sisitemu yo guhuza ibidukikije.
(1) Sisitemu yo gutwara
Kugirango robot ikore, birakenewe gushiraho igikoresho cyohereza kuri buri rugingo, ni ukuvuga buri rwego rwubwisanzure bwo kugenda, aribwo sisitemu yo gutwara. Sisitemu yo gutwara irashobora kuba hydraulic, kwanduza pneumatike, gukwirakwiza amashanyarazi, cyangwa sisitemu yuzuye ibahuza; irashobora kuba disikuru itaziguye cyangwa itaziguye binyuze muburyo bwo kohereza imashini nkumukandara uhuza, iminyururu, gariyamoshi, hamwe nibikoresho byoguhuza. Bitewe n'imbogamizi ziterwa na pneumatike na hydraulic, usibye ibihe bidasanzwe, ntibagifite uruhare runini. Hamwe niterambere rya moteri ya servo yamashanyarazi nubuhanga bwo kugenzura, robot yinganda ziyobowe ahanini na moteri ya servo.
(2) Sisitemu yububiko
Sisitemu yimiterere ya robot yinganda igizwe nibice bitatu: shingiro, ukuboko, hamwe ningaruka zanyuma. Buri gice gifite impamyabumenyi nyinshi zubwisanzure, bugizwe na sisitemu yo mu rwego rwubwisanzure. Niba shingiro ifite uburyo bwo kugenda, hakorwa robot igenda; niba shingiro idafite uburyo bwo kugenda no gukenyera, hashyizweho ukuboko kumwe kwa robo. Ubusanzwe ukuboko kugizwe n'ukuboko hejuru, ukuboko hepfo no kuboko. Impera yanyuma nigice cyingenzi gishyizwe kumaboko. Irashobora kuba intoki ebyiri cyangwa intoki nyinshi, cyangwa imbunda yo gusiga irangi, ibikoresho byo gusudira nibindi bikoresho.
(3) Sisitemu
Sisitemu yimyumvire igizwe na sensor imbere yimbere hamwe na sensor yo hanze kugirango ibone amakuru afatika kumiterere yimbere n’ibidukikije. Gukoresha ibyuma byubwenge byongera urwego rwimikorere, guhuza n'ubwenge bwa robo. Sisitemu yimyumvire yumuntu iragoye cyane kugirango tumenye amakuru yisi yo hanze. Nyamara, kumakuru amwe yihariye, sensor ikora neza kuruta sisitemu yumuntu.
(4) IbidukikijeSisitemu y'imikoranire
Sisitemu yo guhuza ibidukikije na sisitemu ni uburyo bwo kumenya guhuza no guhuza ibikorwa bya robo yinganda nibikoresho mubidukikije. Imashini za robo zinganda nibikoresho byo hanze byinjijwe mubice bikora, nkibikorwa byo gutunganya no gukora, ibice byo gusudira, amateraniro, nibindi. Birumvikana ko robot nyinshi, ibikoresho byimashini cyangwa ibikoresho byinshi, ibikoresho byo kubika ibice byinshi, nibindi nabyo birashobora guhuzwa mubice bimwe bikora kugirango bikore imirimo igoye.
(5) Sisitemu yo guhuza abantu na mudasobwa
Sisitemu yo guhuza abantu na mudasobwa nigikoresho gifasha uyikoresha kugira uruhare mukugenzura robo no kuvugana na robo, kurugero, itumanaho risanzwe rya mudasobwa, amabwiriza ya konsole, ikibaho cyerekana amakuru, ibimenyetso byerekana akaga , nibindi. Sisitemu irashobora gukusanyirizwa mubyiciro bibiri: amabwiriza yatanzwe igikoresho nigikoresho cyo kwerekana amakuru.
Inshingano ya sisitemu yo kugenzura ni ukugenzura imikorere ya robo kugirango irangize ibikorwa byateganijwe kandi ikore ukurikije gahunda yimikorere ya robo hamwe nibimenyetso byatanzwe bivuye kuri sensor. Niba robot yinganda idafite ibimenyetso biranga ibitekerezo, ni uburyo bwo kugenzura ibintu; niba ifite amakuru yo gutanga ibitekerezo biranga, ni sisitemu yo gufunga-kugenzura. Ukurikije ihame ryo kugenzura, sisitemu yo kugenzura irashobora kugabanywa muri sisitemu yo kugenzura porogaramu, sisitemu yo kugenzura imihindagurikire y'ikirere na sisitemu yo kugenzura ubwenge. Ukurikije uburyo bwo kugenzura, sisitemu yo kugenzura irashobora kugabanywa kugenzura ingingo no kugenzura inzira.
Igihe cyo kohereza: Ukuboza-15-2022
