【導(dǎo)讀】工業(yè)機(jī)器人以及它的運(yùn)行是本文的主題。工業(yè)機(jī)器人是應(yīng)用于制造環(huán)境下。以提高生產(chǎn)率的一種工具。它可用于承擔(dān)常規(guī)的、冗長(zhǎng)乏味的裝配線工作，或執(zhí)。行那些對(duì)工人也許有危害的工作。例如，在第一代工業(yè)機(jī)器人中，曾有一臺(tái)被用。于更換核電廠的核燃料棒。從事這項(xiàng)工作的工人可能會(huì)暴露在有害量的放射線。工業(yè)機(jī)器人也能夠在裝配線上操作——安裝小型元件，例如將電子元件安裝。當(dāng)機(jī)器人到達(dá)該位置，它將執(zhí)行某個(gè)任務(wù)。該任務(wù)可能是焊接、外，一般情況下，均不需要人們的參與就能完成這類工作。由這項(xiàng)定義可導(dǎo)致下面段落中被闡。述的其他定義，它們?yōu)闄C(jī)器人系統(tǒng)提供了完整的寫照。編程位置被存儲(chǔ)在機(jī)器人的記憶裝置中供以后繼續(xù)操作時(shí)使用。要求發(fā)生變化時(shí)，不僅其他編程數(shù)據(jù)而且這些預(yù)編程位置均可作修改。機(jī)械手是機(jī)器人的手臂，它允許機(jī)器人俯仰、伸縮和轉(zhuǎn)動(dòng)。此外，來自外界裝置的信號(hào)能夠與機(jī)器人進(jìn)行交流，如前所述，該區(qū)域被稱為。接到鉆床，它可為鉆頭的旋轉(zhuǎn)提供動(dòng)力。

　　

【正文】 ieces may change, and then the robot programmed allows the system to have high flexibility. Robot Sensor Although the robot has great ability, but often than not with a little practice, but the workers. For example, workers can find parts that fall to the ground or no parts feeder, but not the sensor, the robot will not get this information in a timely manner using the most sophisticated sensors, the robot is smaller than an experienced worker Therefore, a good robot system design requires many sensor and robot controller using the phase, it was as close as possible operative awareness. The most frequently used robotics sensors into contact with the noncontact. Contact sensors can be further divided into tactile sensors, force and torque sensors. Tactile or contact sensors can be measured by the driveside and the actual contact between other objects, microswitch is a simple tactile sensor, the robot may be angry when the client contact with other objects, the sensor is the robot to stop work and avoid objects between collisions, tell the robot has reached the goal。 or when used to measure the size of objects detected. Force and torque sensors in the robot gripper and wrist was the last joint, or between the parts on the robot to carry a measured reaction force and torque. Force and torque sensors are mounted on the flexible piezoelectric sensors and strain gauges on the parts. Noncontact sensors include proximity sensors, vision sensors, sound detectors, sensitive ponents and scope. Proximity sensors and labeling of objects near the sensor. For example, eddy current sensor can be used to accurately maintain a fixed distance between the plates. The most simple robot proximity sensors including a lightemitting diode and a photodiode receiver transmitter, receiver reflector closer to the reflection of light, the main disadvantage of this sensor is closer to the object reflectance of light will affect the received signal. The other was close to the sensor using a capacitance and inductance associated with the principle. Visual sensing system is very plex, based on the TV camera or laser scanner works. Video signal through the hardware pretreatment to 3060 per second input into the puter. Computer analysis of the data and extract the required information, for example, the existence of objects and object features, location, operating direction, or ponents of the assembly and product testing is plete. Sound sensitive devices used to sense and interpret sound waves, sound waves detected from the basic people recognize continuous speech, word for word, all kinds of sound ranging from sensitive ponents of the plex procedures, in addition to humanputer voice munication, the robot can also use the sound sensitive devices control of arc welding, I heard the sound of collision or collapse of the movement to stop the robot to predict the mechanical damage will occur and the detection of objects within the defects. There is also a noncontact systems for projector and imaging the surface of the object shape information or distance information. Static detection and closedloop sensor probe used in two ways. When the detection and operation of the robot system moves alternately, it is usually necessary to use sensors that detect when the robot is not operating, the operation has nothing to do with the sensors, this method is called static detection, using this method, visual Find the sensor captured the first position and orientation of objects, and then the robot moves straight to the site. In contrast, closed manipulation and motion detection robot, always under the control of sensors, vision sensors are used the majority of closedloop mode, which monitor the robot39。s actual position at any time and the deviation between the ideal position, and drive the robot fix this error . In the closedloop detection, even if the object in motion, for example, the conveyor belt, the robot can grasp it and send it to the desired location.