Each axis of the KUKA robot performs a specific motion function, and these axes work together to enable the robot to complete a variety of complex tasks. The following is the specific role of each axis of the KUKA robot:
1. Rotation axis
J1 axis: Usually rotates around the vertical axis, providing the robot with rotational motion on the horizontal plane, helping to change the robot's orientation on the working plane.
J2 axis: Rotation around the base horizontal axis further increases the robot's flexibility in the horizontal plane, allowing it to cover a wider area of operation.
2. Move the axis axially
J3 axis: Responsible for the vertical up and down movement of the robot, which is critical for handling work at different heights.
J4 axis: responsible for the front and back movement of the robot, increasing the reachability of the robot in the workspace.
3. Pulse axis
J5 axis and J6 axis: Usually used for rotating motion of the wrist, the high-precision control of these two axes enables the robot to perform fine operations, such as precision assembly, welding, etc. This flexibility increases the accuracy and functionality of the robot.
4. External axis (if configured)
External axes can further extend the scope and functionality of the robot, including but not limited to:
Increased working range: With the addition of external axes, the robot can cover a wider operating area.
Improved accuracy: Precise external shaft control allows for finer operation.
Enhancements: The configuration of the external shaft can be customized according to different production needs.
Improve efficiency: Optimizing the motion parameters of the external axis can improve the working efficiency of the robot.
5. Shaft motion control mode
The motion control of the KUKA robot axis is achieved through advanced control systems that allow the robot to control the movement of the axis in different ways to adapt to different task requirements. The main control methods include:
Position control: By setting the target position of each axis, the robot can accurately move to the specified coordinates.
Force control: In some tasks that require a response to an external force, the robot senses the external force through sensors, thereby adjusting the movement of the shaft to maintain the desired force balance.
Trajectory control: The robot moves according to a pre-planned trajectory, which is suitable for scenarios where tasks need to be performed along a complex path.