Ngokusekelwe emaphutheni esistimu yokulawula i-servo yesikhundla yendabuko yama-manipulators ensimbi yeshidi elithambile, i-pneumatic palletizing manipulator kanye nohlelo lokulawula ukuzinza kwe-servo olusekelwe kuzixhumanisi ze-Cartesian yakhelwe.Okokuqala, isakhiwo esiyisisekelo se-Cartesian coordinate palletizing manipulator siklanyelwe futhi sethulwa, futhi uhlelo lokulawula umjikelezo we-pneumatic lwezinkomishi zokudonsa zokugcina ze-manipulator lwakhiwe futhi luhlaziywe;bese kuhlaziywa izimiso zokulawula zama-servo motors ku-X, Y no-Z we-manipulator bese kwakhiwa i-algorithm yokulawula okuphakelayo okuguquguqukayo yesistimu ye-servo yesikhundla;ekugcineni, ukuma kwendabuko kwe-algorithm ye-PID evaliwe kanye ne-algorithm yokulawula okuguquguqukayo kokuphakelayo kuyaqhathaniswa.Okokugcina, ukusimama kokulandela umkhondo we-algorithm ye-PID evaliwe kanye ne-algorithm yokulawula okuguquguqukayo kokuphakelayo kuyaqhathaniswa.Imiphumela yokuhlola ibonisa ukuthi iCartesian ixhumanisa i-pneumatic palletiser kanye nesistimu yokulawula ukuzinza kwe-servo yakhelwe kahle futhi ihlangabezana nezidingo zangempela zokukhiqiza.
Isikhathi sokuthumela: Mar-15-2023
