工業(yè)機(jī)器人專業(yè)英語 課件Unit 3、4 Robot dynamics and control、Coordinate system of industrial robot

ProfessionalEnglishofIndustrialRobots工業(yè)機(jī)器人專業(yè)英語Unit3RobotdynamicsandcontrolLesson’sactivity1.WhatwillIlearninthischapter？

Todemonstratethatyou:1)Understandthebasicconceptsofrobotkinematics.2)Understandthedegreeoffreedomofrobot.3)Understandthestructuralcharacteristicsofindustrialrobots.

FORLISTENINGPreparation

Lesson’sactivity2.HowdoIPass?

Withintheallocatedguidedlearninghours,youmustsuccessfullycompletePracticalAssessmentinwhichyouwilldemonstratethatyoucan:Thefirstpartisthewordsofrobotkinematics.ThenthesecondpartistheapplicationofbasicEnglishsentencerelatedtorobotkinematicsinthemajor,lastly,thethirdpartistheintroductiontokinematicsprincipleofindustrialrobots.Completetherobotkinematicstasksafterclass.

FORLISTENINGLesson’sactivityABB(AseaBrownBoveriLtd.)艾波比集團(tuán)公司，瑞士YaskawaElectricCoLtd.安川，日本KawasakiHeavyIndustriesLtd.川崎重工業(yè)有限公司，日本workpiece

[?w??kpi?s]n.工件；軋件；工件壁厚payload

[?pe?l??d]n.（導(dǎo)彈、火箭等的）有效載荷，有效負(fù)荷overload

[???v??l??d]v.過載，超載axis

[??ks?s]n.軸，軸線；對稱中心線，對稱軸motion

[?m???n]n.運(yùn)動，移動；v.做動作motion

[?m???n]n.運(yùn)動，移動；v.做動作wrist

[r?st]n.手腕，腕關(guān)節(jié)

FORLISTENING3.1CorrespondingwordsinthecontrolsystemLesson’sactivitybend[bend]v.使彎曲；使屈服transmission[tr?nz?m??(?)n]n.傳動裝置component

[k?m?p??n?nt]n.部件，組成部分regulation[?reɡju?le??n]n.規(guī)章制度，規(guī)則invert

[?n?v??t]

v.使倒置，使反轉(zhuǎn)coordinate[k?????d?ne?t]

v.協(xié)調(diào)，配合maximum[?m?ks?m?m]n.最大量，最大限度；adj.最高的，最大的

FORLISTENING3.1CorrespondingwordsinthecontrolsystemFocusReading1.TojogistomanuallypositionormoverobotsorexternalaxesusingtheFlexPendantjoystick.

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.2.JoggingispossibleregardlessofwhatviewisdisplayedontheFlexPendant,howeveryoucannotjogduringprogramexecution.

。

。FocusReading3.Theselectedmotionmodeand/orcoordinatesystemdeterminesthewaytherobotmoves.FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。4.Additionalaxescanonlybejoggedaxis-by-axis.

。FocusReading5.Anadditionalaxiscaneitherbedesignedforsomekindoflinearmotionorforrotational(angular)motion.

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

6.Linearmotionisusedinconveyers,rotationalmotioninmanykindsofworkpiecehandlers.

。

。FocusReading7.Additionalaxesarenotaffectedbytheselectedcoordinatesystem.。

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。8.Wewilluselinearmotionforthepurposesofthisexercise.。

`

。FocusReading9.Youcanmove(jog)therobotusingthejoystickontheteachpendantunit.。

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。10.Makesurethattheoperatingmodeselectorisinthemanualmodeposition.。

`

。FocusReading11.Toselectthepropercoordinatesystemstojoginwillmakejoggingeasierbuttherearenosimpleorsingleanswerstowhichcoordinatesystemtochoose.。

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。FocusReading12.Ifthemechanicalunitmovingtheworkobjectisjogged,anyrobotthatiscurrentlycoordinatedwiththeworkobjectwillmovesothatitmaintainsitsrelativepositiontotheworkobject.。

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。FocusReading13.Youcancommunicatewiththerobotusingateachpendantunitand/ortheoperator’spanel,locatedonthecontroller(Fig.3-1).。

Fig.3-1Theteachpendantunitandtheoperator’spanel.FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。FocusReading14.AsisshowninFig.3-2，therobotismadeupoftwoprincipalparts，andFig.3-3illustratestheprincipalpartsofthecontroller.。

Fig.3-2Thecontrollerandmanipulatorareconnectedbytwocables.FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。Fig.3-3Robotcontroller.FocusReading1.Thischapterpresentsanintroductiontothedynamicsandcontrolofrobotmanipulators.Wederivetheequationsofmotionforageneralopen-chainmanipulatorand,usingthestructurepresentinthedynamics,constructcontrollawsforasymptotictrackingofadesiredtrajectory.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading2.IntroductionThekinematicmodelsofrobotsthatwesawinthelastchapterdescribehowthemotionofthejointsofarobotisrelatedtothemotionoftherigidbodiesthatmakeuptherobot.Weimplicitlyassumedthatwecouldcommandarbitraryjointleveltrajectoriesandthatthesetrajectorieswouldbefaithfullyexecutedbythereal-worldrobot.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading3.Mostrobotmanipulatorsaredrivenbyelectric,hydraulic,orpneumaticactuators,whichapplytorques(orforces,inthecaseoflinearactuators)atthejointsoftherobot.Thedynamicsofarobotmanipulatordescribeshowtherobotmovesinresponsetotheseactuatorforces.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading4.Wewilldescribethedynamicsofarobotmanipulatorusingasetofnonlinear,second-order,ordinarydifferentialequationswhichdependonthekinematicandinertialpropertiesoftherobot.Althoughinprincipletheseequationscanbederivedbysummingalloftheforcesactingonthecoupledrigidbodieswhichformtherobot,weshallrelyinsteadonaLagrangianderivationofthedynamics.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading5.Oncetheequationsofmotionforamanipulatorareknown,theinverseproblemcanbetreated:thecontrolofarobotmanipulatorentailsfindingactuatorforceswhichcausethemanipulatortomovealongagiventrajectory.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading6.Inthischapter,weprimarilyconcentrateononeofthesimplestrobotcontrolproblems,thatofregulatingthepositionoftherobot.Therearetwobasicwaysthatthisproblemcanbesolved.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading7.Amuchhardercontrolproblemisoneinwhichtherobotisincontactwithitsenvironment.Inthiscase,wemustregulatenotonlythepositionoftheend-effectorbutalsotheforcesitappliesagainsttheenvironment.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading8.Lagrange’sEquationsTherearemanymethodsforgeneratingthedynamicequationsofamechanicalsystem.Allmethodsgenerateequivalentsetsofequations,butdifferentformsoftheequationsmaybebettersuitedforcomputationoranalysis.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading9.ConsiderasystemofnparticleswhichobeysNewton’ssecondlaw—thetimerateofchangeofaparticle’smomentumisequaltotheforceappliedtoaparticle.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading10.ToapplyLagrange’sequationstoarobot,wemustcalculatethekineticandpotentialenergyoftherobotlinksasafunctionofthejointanglesandvelocities.This,inturn,requiresthatwehaveamodelforthemassdistributionofthelinks.Sinceeachlinkisarigidbody,itskineticandpotentialenergycanbedefinedintermsofitstotalmassanditsmomentsofinertiaaboutthecenterofmass.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading11.Thefunctionoftherobotcontrolsystemistoreceivethedetectionsignalfromthesensor.Robotsneedsensorstodetectvariousstates.Theinternalsensorsignaloftherobotisusedtoreflecttheactualmotionstateofthemanipulatorjoint,andtheexternalsensorsignaloftherobotisusedtodetectthechangeoftheworkingenvironment.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。HomeworkUnit3：EXERCISE

ThanksProfessionalEnglishofIndustrialRobotsProfessionalEnglishofIndustrialRobots工業(yè)機(jī)器人專業(yè)英語Unit4CoordinatesystemofindustrialrobotLesson’sactivity1.WhatwillIlearninthischapter？

Todemonstratethatyou:1)Understandthedefinitionofcoordinatesystemofindustrialrobot2)Understandthebasictypesofindustrialrobotcoordinates.3)Understandhowtodescribetheworkconditionoftherobotbyusingthecoordinatesystem.FORLISTENINGPreparation

Lesson’sactivity2.HowdoIPass?

Withintheallocatedguidedlearninghours,youmustsuccessfullycompletepracticalassessmentinwhichyouwilldemonstratethatyoucan:Fromeasytodifficult,learnfirstthecorrespondingwordsinthecoordinatesystem；Furtherreinforcementlearning，thesecondpartistheapplicationofbasicEnglishsentencepatternsinthemajor.Last,inordertoimprovetheleveloflearning，thethirdpartistheapplicationaboutbasictypesofindustrialrobotcoordinates.Completetheafter-classtasksofindustrialrobotcoordinatesystem.

FORLISTENINGLesson’sactivitycoordinate[k?????d?ne?t]v.協(xié)調(diào)，配合axis[??ks?s]n.軸locate

[l???ke?t]v.確定…的位置，探明，定位target[?tɑ?rɡ?t]n.目標(biāo)position

[p??z??n]n.位置measurement

[?me??m?nt]n.測量jogging[?d??ɡ??]

vi.慢跑；輕推，輕撞tool[tu?l]

n.工具frame[fre?m]n.框架，邊框

FORLISTENING4.1CorrespondingwordsinthecoordinatesystemLesson’sactivityorigin

[??r?d??n]n.起源，源頭define[d??fa?n]

v.給…下定義，解釋；闡明object

[??bd??kt]n.目標(biāo)，對象plane[ple?n]

n.平面equipment

[??kw?pm?nt]n.設(shè)備handle[?h?nd(?)l]n.把手；v.處理，應(yīng)付movement[?mu?vm?nt]

n.運(yùn)動joystick[?d???st?k]

n.操作桿FORLISTENING4.1CorrespondingwordsinthecontrolsystemFocusReading1.Thebasecoordinatesystemislocatedatthebaseoftherobot.FORLISTENING4.2Part2Translationofthesimpleandcomplicatedsentencesintheprocessofusingtherobotcoordinatesystem

。2.Theworldcoordinatesystemhasitszeropointonafixedpositioninthecellorstation.

。FocusReading3.Theworkobjectcoordinatesystemisrelatedtotheworkpieceandisoftenthebestoneforprogrammingtherobot.FORLISTENING4.2Part2Translationofthesimpleandcomplicatedsentencesintheprocessofusingtherobotcoordinatesystem

。4.Thedisplacementcoordinatesystemisdefinedbasedontheobjectcoordinatesystem.

。FocusReading5.Theusercoordinatesystemisusefulforrepresentingequipmentthatholdsothercoordinatesystems,likeworkobjects.FORLISTENING4.2Part2Translationofthesimpleandcomplicatedsentencesintheprocessofusingtherobotcoordinatesystem

。6.Acoordinatesystemdefinesaplaneorspacebyaxesfromafixedpointcalledtheorigin.

。FocusReading7.RobottargetsandpositionsarelocatedbymeasurementsalongtheaxesofCoordinatesystems.FORLISTENING4.2Part2Translationofthesimpleandcomplicatedsentencesintheprocessofusingtherobotcoordinatesystem

。8.Arobotusesseveralcoordinatesystems,eachsuitableforspecifictypesofjoggingorprogramming.

。FocusReading9.Thetool(TCP’s)positioncanbespecifiedindifferentcoordinatesystemstofacilitateprogrammingandreadjustmentofprograms.FORLISTENING4.2Part2Translationofthesimpleandcomplicatedsentencesintheprocessofusingtherobotcoordinatesystem

。10.Thecoordinatesystemdefineddependsonwhattherobothastodo.

。FocusReading11.Whennocoordinatesystemisdefined,therobot’spositionsaredefinedinthebasecoordinatesystem.FORLISTENING4.2Part2Translationofthesimpleandcomplicatedsentencesintheprocessofusingtherobotcoordinatesystem

。12.Theaccuracyoftherobot,i.e.howwellthetoolframewillcoincidewiththeprogrammedposition,isnormallyindependentoftheaccuracyofthevariouscoordinatesystems.

。FocusReading1.Basecoordinatesystem(seeFig.4-1)，inasimpleapplication,programmingcanbedoneinthebasecoordinatesystem;herethez-axisiscoincidentwithaxis1oftherobot.

FORLISTENING4.3Part3Descriptionworkconditionoftherobotbyusingthecoordinatesystem.

。Fig.4-1Thebasecoordinatesystem.FocusReading2．Thebasecoordinatesystemislocatedonthebaseoftherobot:-Theoriginissituatedattheintersectionofaxis1andthebasemountingsurface.-Thex、yplaneisthesameasthebasemountingsurface.-Thex-axispointsforwards.-They-axispointstotheleft(fromtheperspectiveoftherobot).-Thez-axispointsupwards.

FORLISTENING4.3Part3Descriptionworkconditionoftherobotbyusingthecoordinatesystem.

。FocusReading3.Sometimes,severalrobotsworkwithinthesameworkingspaceataplant.Acommonworldcoordinatesystemisusedinthiscasetoenabletherobotprogramstocommunicatewithoneanother.Itcanalsobeadvantageoustousethistypeofsystemwhenthepositionsaretoberelatedtoafixedpointintheworkshop，a