Motɛriw
Fɛɛn nɔgɔman
Robow fɛ, motɛriw bonya n’u girinya be yɛlɛma kosɔbɛ. Sɛgɛsɛgɛli minw kɛra fɛɛrɛw kan i n’a fɔ ka fɛnw yɛlɛma minw ka bon ni fanga ye, ka fɛnw dilan cogo ɲuman na, ani ka baarakɛcogo ɲuman n’u ka lajɛnw labɛn ka ɲɛ, o nafa ka bon kosɛbɛ ka se ka servo motɛriw ka baarakɛcogo fisaya, k’u bonya n’u girinya dɔgɔya, ani a ye fɛɛrɛ jɔnjɔn ye robo motɛriw fɛ.
Teliyaba
Ni dɔgɔyali hakɛ tɛ se ka yɛlɛma kosɔbɛ, motɛri ka teliya hakɛ be nɔɔ to robo ka teliya n’a ka baara wagati kan. Ka fara o kan, teliya hakɛ min ka dɔgɔ, o be se ka nɔɔ to motɛri ka inersiya bɛnni kan; o la, ka dɔ fara motɛri ka teliya kan, o fana ye fɛɛrɛ jɔnjɔn ye robo motɛriw fɛ.
Bolifɛn tilennin, yɔrɔ min be yɔrɔ gwansan na
Komi robo minw be baara kɛ ɲɔgɔn fɛ, olu be to ka kɔrɔbaya ani k’u yiriwa, dɔ be farala robo minw ka nɔgɔ ani u ka nɔgɔ, u ka ɲi ka minw kɛ. Ka motɛriw yiriwa minw be baara kɛ ni torqueba ye, motɛri minw be ni diski ye ani motɛri kɛrɛnkɛrɛnnin wɛrɛw, o ye siniɲɛsigi koo ye.
Sɛrɛvo
Jaabi teliman, yɔrɔ tigitigi
Servo ka jaabili wagati be nɔɔ to robo ka baara daminɛ joona-lalɔli kan, o be nɔɔ to a ka baarakɛcogo ɲuman n’a ka yɛlɛmani wagati kan.
Sensɔribali ɲɔgɔndan elastiki sɔrɔli
Lakanali ye tagamasiɲɛ nafaman ye min be se ka robow ka baara sɛgɛsɛgɛ. Ka fanga wala torsi lɔnbaga dɔw fara a kan, o be dɔ fara a lɔcogo gɛlɛya n’a sɔngɔ kan. Sensorless elastic collision fɛɛrɛ min basiginin be encoder ani motɛri ka kuran ɲɔgɔndan kan, o be se ka robow ka lafiya fisaya fɔɔ ka taga se hakɛ dɔ ma k’a sɔrɔ u tɛ robow labɛncogo yɛlɛma wala u tɛ dɔ fara u ka musakaw kan.
Sisitɛmu min be bolifɛnw boli ani k’u labɛn
Fɛɛrɛ min be bolifɛnw ni kɔlɔsili fɛɛrɛw don ɲɔgɔn na, o be baara kɛ ni CPU multi-core ani multi-axis bolifɛnw ani kɔlɔsili ye, o be sisitɛmu baarakɛcogo fisaya k’a sɔrɔ a be bolifɛnw bonya n’u sɔngɔ dɔgɔya.
Ɛntɛrinɛti kan, barokɛɲɔgɔnya min be se ka yɛlɛma
Lizini robow ka kantilevɛri yɔrɔw ka teli ka pɛrɛnpɛrɛn multi-axis ɲɔgɔndan wagati la, doni girinmanw, ani daminɛ ni lɔ joona joona. Robo ka gɛlɛya ka kan ka bɛn ni motɛri servo gɛlɛya paramɛtiriw ye; gɛlɛya dantɛmɛni be na ni yɛrɛyɛrɛ ye, k’a sɔrɔ gɛlɛya min tɛ se ka kɛ, o be na ni daminɛ dɔɔni dɔɔni-lalɔli ye. Robo ka gɛlɛya be yɛlɛma yɛlɛma lɔyɔrɔw, lɔcogo ani baarakɛminanw ka doni sifa caaman na, o b’a to a ka gwɛlɛ ka baarakɛcogo bɛɛ dafa ni servo gɛlɛya hakɛw sigili ye ka kɔn-. O la, a be se ka kɛ ko mɔgɔw be ɲɔgɔn sɔsɔra cogo min na, o be fɛɛrɛ dɔ labɛn min be paramɛtiriw labɛnni waajibiya bɔ yen, ani o be stiffness matching ani chatter suppression makoɲɛfɛnw ɲɛnabɔ o wagati kelen na. O be se ka robo laban-efɛkitɛri ka pɛrɛnkanw bali ani ka laban-efɛkitɛri lɔyɔrɔ tiɲɛtigiya fisaya.
