川崎機(ji)(ji)器人控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)的(de)類型有(you)哪些呢(ni)?1、智能(neng)化的(de)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)方式：模糊控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、自(zi)適應(ying)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、神經(jing)網(wang)絡控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、模糊神經(jing)網(wang)絡控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)以及其他(ta)。2、按(an)(an)照(zhao)有(you)無反饋分(fen)為：開環(huan)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、閉環(huan)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)，而(er)開環(huan)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)的(de)條件則(ze)是地知道被控(kong)(kong)(kong)(kong)對象(xiang)的(de)模型，并且這一模型在控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)過(guo)程中保持不變。3、按(an)(an)照(zhao)期望控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)量分(fen)為：位(wei)置(zhi)(zhi)(zhi)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)，機(ji)(ji)器人示教(jiao)器維護，力控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)，錦州機(ji)(ji)器人示教(jiao)器，混合控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)，而(er)位(wei)置(zhi)(zhi)(zhi)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)則(ze)包括單(dan)關(guan)節位(wei)置(zhi)(zhi)(zhi)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、多(duo)關(guan)節位(wei)置(zhi)(zhi)(zhi)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、多(duo)關(guan)節位(wei)置(zhi)(zhi)(zhi)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)分(fen)為分(fen)解運動控(kong)(kong)(kong)(kong)、集中控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)，力控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)分(fen)為直(zhi)接力控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、阻抗控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)、力位(wei)混合控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)。

ABB機器(qi)人主(zhu)板故障(zhang)(zhang)現(xian)象時(shi)好時(shi)壞的維(wei)修方法總結:1.接(jie)觸(chu)不良 ? 板卡與插槽(cao)接(jie)觸(chu)不良、纜線(xian)內部(bu)折斷時(shi)通(tong)時(shi)不通(tong)、線(xian)插頭及接(jie)線(xian)端子接(jie)觸(chu)不好、元(yuan)器(qi)件(jian)虛焊等皆屬此類；? 2.信號受干(gan)擾(rao) ? 對數(shu)字電(dian)路(lu)而言，在特定的情況條件(jian)下(xia)，機器(qi)人示教器(qi)調試，故障(zhang)(zhang)才會呈現(xian)，有可能確實是干(gan)擾(rao)太大影(ying)響(xiang)了控(kong)制系統使其出錯，也有電(dian)路(lu)板個別(bie)元(yuan)件(jian)參數(shu)或(huo)整體表現(xian)參數(shu)出現(xian)了變化，使抗干(gan)擾(rao)能力趨(qu)向臨界點，從而出現(xian)故障(zhang)(zhang)；

力(li)(li)傳感(gan)器(qi)(qi)(qi)用(yong)于檢測(ce)外(wai)力(li)(li)信息，力(li)(li)信號(hao)轉換(huan)為機器(qi)(qi)(qi)人(ren)位置量。合規性訓練(lian)在五(wu)關(guan)節(jie)機器(qi)(qi)(qi)人(ren)中實(shi)(shi)施。機器(qi)(qi)(qi)人(ren)示教(jiao)器(qi)(qi)(qi)維修建議使用(yong)實(shi)(shi)時重力(li)(li)和摩(mo)擦補償來實(shi)(shi)現(xian)無扭(niu)矩(ju)傳感(gan)器(qi)(qi)(qi)的直接(jie)教(jiao)學(xue)(xue)。提出(chu)了一種(zhong)自由力(li)(li)控制方法來模(mo)(mo)擬終端工具(ju)的運動(dong)并進(jin)行模(mo)(mo)擬實(shi)(shi)驗。六維力(li)(li)傳感(gan)器(qi)(qi)(qi)用(yong)于檢查外(wai)力(li)(li)信息，并將力(li)(li)信號(hao)轉換(huan)為關(guan)節(jie)速度校正量，實(shi)(shi)現(xian)一致(zhi)性跟蹤教(jiao)學(xue)(xue)。利(li)用(yong)機器(qi)(qi)(qi)人(ren)動(dong)力(li)(li)學(xue)(xue)方程，將獲得的關(guan)節(jie)空間力(li)(li)分(fen)量轉換(huan)為關(guan)節(jie)位置坐(zuo)標，機器(qi)(qi)(qi)人(ren)示教(jiao)器(qi)(qi)(qi)維修實(shi)(shi)現(xian)直接(jie)教(jiao)學(xue)(xue)。