机器人技术装置作为受控对象其特点取决于其轨迹的多样性以及与传统的工艺设备相比其速度及载荷的变化范围较大。控制系统在具有相应的控制程序及收集处理周围环境信息的技术设备的情况下,可通过操作人员(示教方式)或者自动地综合运动程序,也就是找出具体的轨迹和运动方式。 通常,自动操作器不是以固定的方式,而是以受控变换的方式工作。其工作特点是,周期性重复运动。每个这样的重复运动都包含有急剧的加速和制动。这是因为自动操作器主要 The robotics device as a controlled object is characterized by its multiplicity of trajectories and a wide range of variations in speed and load compared to conventional process equipment. The control system, with its own control program and the collection of technical equipment for the processing of ambient information, can be programmed by the operator (teaching mode) or automatically integrated with the movement program, ie the specific trajectory and movement pattern can be found. In general, robots work not in a fixed manner, but in a controlled transformation. Its work is characterized by periodic repetitive movements. Each such repetitive movement includes rapid acceleration and braking. This is because the robot is mainly