Manipulator ni imashini ifite imikorere myinshi ishobora kwikora ku buryo bwo kugenzura aho ibintu biherereye kandi ishobora kuvugururwa kugira ngo ihinduke. Ifite ubwisanzure bwinshi kandi ishobora gukoreshwa mu kwimura ibintu kugira ngo bikore akazi mu bintu bitandukanye. Manipulator z'inganda ni ikoranabuhanga rishya mu bijyanye no kugenzura hafi y’ibintu byikora kandi zabaye igice cy'ingenzi cya sisitemu zigezweho zo gukora ibintu.
Amaboko ya manipulator akoreshwa mu gufata ibikoresho (cyangwa ibikoresho) kandi afite imiterere itandukanye, nko gufata, gufata no gushyiramo ibintu, bitewe n'imiterere, ingano, uburemere, ibikoresho n'ibisabwa mu mikorere y'ikintu gifashwe. Uburyo bwo kugenda, kugira ngo ukuboko kurangize uburyo butandukanye bwo kuzenguruka (guhindagurika), kugenda cyangwa kugenda bivanze kugira ngo ugere ku gikorwa cyagenwe, guhindura aho ikintu gifashwe n'uko gihagaze. Uburyo bwo kugenda bwigenga, nko guterura, kureba kure no kuzenguruka, bwitwa urugero rw'ubwisanzure bwa manipulator. Kugira ngo umuntu afate ikintu mu mwanya uwo ari wo wose n'icyerekezo icyo ari cyo cyose mu kirere, hakenewe urugero rutandatu rw'ubwisanzure. Urugero rw'ubwisanzure ni ikintu cy'ingenzi mu miterere ya manipulator. Uko ubwisanzure burushaho kwiyongera, ni ko manipulator irushaho gukomera, ni ko imiterere yayo iba myinshi, kandi ikaba igoye cyane. Muri rusange, robo zidasanzwe zifite urugero rugera kuri 2 kugeza kuri 3 rw'ubwisanzure. Sisitemu yo kugenzura ikoreshwa mu kurangiza ingendo runaka igenzura moteri ya buri rugero rw'ubwisanzure bwa manipulator. Ikira kandi ibitekerezo bivuye ku byuma bipima kugira ngo ikore uburyo buhamye bwo kugenzura bufunganye. Igice cy'ibanze cya sisitemu yo kugenzura ubusanzwe kigizwe na chip ya micro-controller nka microcontroller cyangwa dsp, yateguwe kugira ngo igere ku murimo wifuza.
Iterambere ryihuse ry’imashini zikora ibikoresho by’inganda riterwa n’uruhare rwazo rwiza rugenda rumenyekana. Ubwa mbere, zishobora gusimbura igice cy’imikorere y’intoki; ubwa kabiri, zishobora gukurikiza inzira runaka, igihe n’aho zikorera kugira ngo zirangize kwimura no gupakira ibikoresho by’akazi hakurikijwe ibisabwa mu gikorwa cyo gukora; ubwa gatatu, zishobora gukoresha ibikoresho by’imashini bikenewe mu gusudira no guteranya. Bityo, zishobora kunoza cyane imiterere y’akazi k’abakozi, zikongera cyane umusaruro w’abakozi, kandi zikihutisha umuvuduko w’imashini n’imikorere y’inganda. Kubera iyo mpamvu, ibihugu byateye imbere mu nganda byitaye ku bikoresho n’imari byinshi mu bushakashatsi no kubikoresha. Cyane cyane mu bushyuhe bwinshi, umuvuduko mwinshi, ivumbi, urusaku ndetse n’ibihe by’imirasire n’imyanda, ikoreshwa ryabyo riri ahantu henshi. Mu Bushinwa, mu myaka ya vuba aha, habayeho iterambere ryihuse, kandi ryageze ku musaruro runaka, bitewe n’inganda.
Igihe cyo kohereza: Nzeri-07-2022