工(Gong)业(Ye)机(Ji)器(Qi)人(Ren)由(You)主(Zhu)体(Ti)、(?)驱(Qu)动(Dong)系(Xi)统(Tong)和(He)控(Kong)制(Zhi)系(Xi)统(Tong)三(San)个(Ge)基(Ji)本(Ben)部(Bu)分(Fen)组(Zu)成(Cheng)。(?)主(Zhu)体(Ti)即(Ji)机(Ji)座(Zuo)和(He)执(Zhi)行(Xing)机(Ji)构(Gou)，(?)包(Bao)括(Kuo)臂(Bi)部(Bu)、(?)腕(Wan)部(Bu)和(He)手(Shou)部(Bu)，(?)有(You)的(De)机(Ji)器(Qi)人(Ren)还(Huan)有(You)行(Xing)走(Zou)机(Ji)构(Gou)。(?)大(Da)多(Duo)数(Shu)工(Gong)业(Ye)机(Ji)器(Qi)人(Ren)有(You)3～(?)6个(Ge)运(Yun)动(Dong)自(Zi)由(You)度(Du)，(?)其(Qi)中(Zhong)腕(Wan)部(Bu)通(Tong)常(Chang)有(You)1～(?)3个(Ge)运(Yun)动(Dong)自(Zi)由(You)度(Du)；(?)驱(Qu)动(Dong)系(Xi)统(Tong)包(Bao)括(Kuo)动(Dong)力(Li)装(Zhuang)置(Zhi)和(He)传(Chuan)动(Dong)机(Ji)构(Gou)，(?)用(Yong)以(Yi)使(Shi)执(Zhi)行(Xing)机(Ji)构(Gou)产(Chan)生(Sheng)相(Xiang)应(Ying)的(De)动(Dong)作(Zuo)；(?)控(Kong)制(Zhi)系(Xi)统(Tong)是(Shi)按(An)照(Zhao)输(Shu)入(Ru)的(De)程(Cheng)序(Xu)对(Dui)驱(Qu)动(Dong)系(Xi)统(Tong)和(He)执(Zhi)行(Xing)机(Ji)构(Gou)发(Fa)出(Chu)指(Zhi)令(Ling)信(Xin)号(Hao)，(?)并(Bing)进(Jin)行(Xing)控(Kong)制(Zhi)。(?)
工(Gong)业(Ye)机(Ji)器(Qi)人(Ren)按(An)臂(Bi)部(Bu)的(De)运(Yun)动(Dong)形(Xing)式(Shi)分(Fen)为(Wei)四(Si)种(Zhong)。(?)直(Zhi)角(Jiao)坐(Zuo)标(Biao)型(Xing)的(De)臂(Bi)部(Bu)可(Ke)沿(Yan)三(San)个(Ge)直(Zhi)角(Jiao)坐(Zuo)标(Biao)移(Yi)动(Dong)；(?)圆(Yuan)柱(Zhu)坐(Zuo)标(Biao)型(Xing)的(De)臂(Bi)部(Bu)可(Ke)作(Zuo)升(Sheng)降(Jiang)、(?)回(Hui)转(Zhuan)和(He)伸(Shen)缩(Suo)动(Dong)作(Zuo)；(?)球(Qiu)坐(Zuo)标(Biao)型(Xing)的(De)臂(Bi)部(Bu)能(Neng)回(Hui)转(Zhuan)、(?)俯(Fu)仰(Yang)和(He)伸(Shen)缩(Suo)；(?)关(Guan)节(Jie)型(Xing)的(De)臂(Bi)部(Bu)有(You)多(Duo)个(Ge)转(Zhuan)动(Dong)关(Guan)节(Jie)。(?)
工(Gong)业(Ye)机(Ji)器(Qi)人(Ren)按(An)执(Zhi)行(Xing)机(Ji)构(Gou)运(Yun)动(Dong)的(De)控(Kong)制(Zhi)机(Ji)能(Neng)，(?)又(You)可(Ke)分(Fen)点(Dian)位(Wei)型(Xing)和(He)连(Lian)续(Xu)轨(Gui)迹(Ji)型(Xing)。(?)点(Dian)位(Wei)型(Xing)只(Zhi)控(Kong)制(Zhi)执(Zhi)行(Xing)
机(Ji)构(Gou)由(You)一(Yi)点(Dian)到(Dao)另(Ling)一(Yi)点(Dian)的(De)准(Zhun)确(Que)定(Ding)位(Wei)，(?)适(Shi)用(Yong)于(Yu)机(Ji)床(Chuang)上(Shang)下(Xia)料(Liao)、(?)点(Dian)焊(Han)和(He)一(Yi)般(Ban)搬(Ban)运(Yun)、(?)装(Zhuang)卸(Xie)等(Deng)作(Zuo)业(Ye)；(?)连(Lian)续(Xu)轨(Gui)迹(Ji)型(Xing)可(Ke)控(Kong)制(Zhi)执(Zhi)行(Xing)机(Ji)构(Gou)按(An)给(Gei)定(Ding)轨(Gui)迹(Ji)运(Yun)动(Dong)，(?)适(Shi)用(Yong)于(Yu)连(Lian)续(Xu)焊(Han)接(Jie)和(He)涂(Tu)装(Zhuang)等(Deng)作(Zuo)业(Ye)。(?)
工(Gong)业(Ye)机(Ji)器(Qi)人(Ren)按(An)程(Cheng)序(Xu)输(Shu)入(Ru)方(Fang)式(Shi)区(Qu)分(Fen)有(You)编(Bian)程(Cheng)输(Shu)入(Ru)型(Xing)和(He)示(Shi)教(Jiao)输(Shu)入(Ru)型(Xing)两(Liang)类(Lei)。(?)编(Bian)程(Cheng)输(Shu)入(Ru)型(Xing)是(Shi)将(Jiang)计(Ji)算(Suan)机(Ji)上(Shang)已(Yi)编(Bian)好(Hao)的(De)作(Zuo)业(Ye)程(Cheng)序(Xu)文(Wen)件(Jian)，(?)通(Tong)过(Guo)RS232串(Chuan)口(Kou)或(Huo)者(Zhe)以(Yi)太(Tai)网(Wang)等(Deng)通(Tong)信(Xin)方(Fang)式(Shi)传(Chuan)送(Song)到(Dao)机(Ji)器(Qi)人(Ren)控(Kong)制(Zhi)柜(Gui)。(?)
示(Shi)教(Jiao)输(Shu)入(Ru)型(Xing)的(De)示(Shi)教(Jiao)方(Fang)法(Fa)有(You)两(Liang)种(Zhong)：(?)一(Yi)种(Zhong)是(Shi)由(You)操(Cao)作(Zuo)者(Zhe)用(Yong)手(Shou)动(Dong)控(Kong)制(Zhi)器(Qi)(示(Shi)教(Jiao)操(Cao)纵(Zong)盒(He))，(?)将(Jiang)指(Zhi)令(Ling)信(Xin)号(Hao)传(Chuan)给(Gei)驱(Qu)动(Dong)系(Xi)统(Tong)，(?)使(Shi)执(Zhi)行(Xing)机(Ji)构(Gou)按(An)要(Yao)求(Qiu)的(De)动(Dong)作(Zuo)顺(Shun)序(Xu)和(He)运(Yun)动(Dong)轨(Gui)迹(Ji)操(Cao)演(Yan)一(Yi)遍(Bian)；(?)另(Ling)一(Yi)种(Zhong)是(Shi)由(You)操(Cao)作(Zuo)者(Zhe)直(Zhi)接(Jie)领(Ling)动(Dong)执(Zhi)行(Xing)机(Ji)构(Gou)，(?)按(An)要(Yao)求(Qiu)的(De)动(Dong)作(Zuo)顺(Shun)序(Xu)和(He)运(Yun)动(Dong)轨(Gui)迹(Ji)操(Cao)演(Yan)一(Yi)遍(Bian)。(?)在(Zai)示(Shi)教(Jiao)过(Guo)程(Cheng)的(De)同(Tong)时(Shi)，(?)工(Gong)作(Zuo)程(Cheng)序(Xu)的(De)信(Xin)息(Xi)即(Ji)自(Zi)动(Dong)存(Cun)入(Ru)程(Cheng)序(Xu)存(Cun)储(Chu)器(Qi)中(Zhong)在(Zai)机(Ji)器(Qi)人(Ren)自(Zi)动(Dong)工(Gong)作(Zuo)时(Shi)，(?)控(Kong)制(Zhi)系(Xi)统(Tong)从(Cong)程(Cheng)序(Xu)存(Cun)储(Chu)器(Qi)中(Zhong)检(Jian)出(Chu)相(Xiang)应(Ying)信(Xin)息(Xi)，(?)将(Jiang)指(Zhi)令(Ling)信(Xin)号(Hao)传(Chuan)给(Gei)驱(Qu)动(Dong)机(Ji)构(Gou)，(?)使(Shi)执(Zhi)行(Xing)机(Ji)构(Gou)再(Zai)现(Xian)示(Shi)教(Jiao)的(De)各(Ge)种(Zhong)动(Dong)作(Zuo)。(?)示(Shi)教(Jiao)输(Shu)入(Ru)程(Cheng)序(Xu)的(De)工(Gong)业(Ye)机(Ji)器(Qi)人(Ren)称(Cheng)为(Wei)示(Shi)教(Jiao)再(Zai)现(Xian)型(Xing)工(Gong)业(Ye)机(Ji)器(Qi)人(Ren)。(?)
具(Ju)有(You)触(Chu)觉(Jue)、(?)力(Li)觉(Jue)或(Huo)简(Jian)单(Dan)的(De)视(Shi)觉(Jue)的(De)工(Gong)业(Ye)机(Ji)器(Qi)人(Ren)，(?)能(Neng)在(Zai)较(Jiao)为(Wei)复(Fu)杂(Za)的(De)环(Huan)境(Jing)下(Xia)工(Gong)作(Zuo)；(?)如(Ru)具(Ju)有(You)识(Shi)别(Bie)功(Gong)能(Neng)或(Huo)更(Geng)进(Jin)一(Yi)步(Bu)增(Zeng)加(Jia)自(Zi)适(Shi)应(Ying)、(?)自(Zi)学(Xue)习(Xi)功(Gong)能(Neng)，(?)即(Ji)成(Cheng)为(Wei)智(Zhi)能(Neng)型(Xing)工(Gong)业(Ye)机(Ji)器(Qi)人(Ren)。(?)它(Ta)能(Neng)按(An)照(Zhao)人(Ren)给(Gei)的(De)"宏(Hong)指(Zhi)令(Ling)"自(Zi)选(Xuan)或(Huo)自(Zi)编(Bian)程(Cheng)序(Xu)去(Qu)适(Shi)应(Ying)环(Huan)境(Jing)，(?)并(Bing)自(Zi)动(Dong)完(Wan)成(Cheng)更(Geng)为(Wei)复(Fu)杂(Za)的(De)工(Gong)作(Zuo)。(?)
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