Izinto zokulawula i-robot yokubumba i-injection ziquka ukulandelelana komsebenzi, indawo yokufika, ixesha lesenzo, isantya sokunyakaza, kunye nokukhawuleza / ukuhla.
Ulawulo lwerobhothi yokubumba isitofu yohlulwe ngokweendidi ezimbini: indawo-ukuya{1}}kulawulo lwamanqaku kunye nolawulo oluqhubekayo lomzila.
Inkqubo yokulawula inokuqulunqwa kusetyenziswa ulawulo olulandelelanayo lwedijithali ngokweemfuno zesenzo. Okokuqala kufuna inkqubo kunye nokugcina inkqubo, kwaye emva koko ulawule i-robot ukwenza umsebenzi ngokwenkqubo emiselweyo.
Kukho iindlela ezimbini zokugcina inkqubo: ukugcinwa okwahlukileyo kunye nokugcinwa kwendawo enye. Ugcino olwahlukileyo lugcina ulwazi kwizinto ezahlukeneyo zolawulo kwizixhobo zokugcina ezibini nangaphezulu, ezinjengokugcina ulwazi lolandelelwano kwipleyiti yepin, idrum yecam, okanye iteyiphu enemingxuma; ukugcina ulwazi lwendawo kwireyiti yexesha okanye rhoqo{1}}igubu elijikelezayo lesantya. Ugcino olukumbindi lugcina lonke ulwazi kwizinto ezahlukeneyo zolawulo kwisixhobo esinye sogcino, njengeteyiphu yemagnethi okanye igubu lamagnetic. Le ndlela isetyenziswa kwiimeko apho ulandelelwano, indawo, ixesha, kunye nesantya kufuneka zilawulwe ngaxeshanye, oko kukuthi, kwiimeko zolawulo oluqhubekayo.
Amacwecwe eephini asetyenziswa kwiimeko apho inkqubo ifuna ukutshintshwa ngokukhawuleza. Ukutshintsha inkqubo kufuna kuphela ukutshintshwa kodidi olunye lwe-pin plate, kunye neplagi efanayo{1}}enokuphinda isetyenziswe ngokuphindaphindiweyo; ubude beprogram enokuthi ibanjwe iteyiphu echotshiweyo ayinamda, kodwa ukuba kukho impazamo, yonke iteyiphu kufuneka itshintshwe; Umthamo wolwazi wekhadi elihlatyiweyo ulinganiselwe, kodwa kulula ukubuyisela, ukugcina, kunye nokuphinda usetyenziswe; i-magnetic cores kunye ne-magnetic drums zifanelekile kuphela kwizicelo ezinomthamo omkhulu wokugcina. Ukukhethwa kwento yokulawula kuxhomekeke kubunzima kunye nokuchaneka kweprogram.
Kwiingalo ezintsonkothileyo zerobhothi, fundisa{0}}kunye{1}}nokuvelisa kwakhona uhlobo lwenkqubo yokulawula iyasetyenziswa. Iingalo zerobhothi ezintsonkothileyo zisebenzisa iisistim zolawulo lwedijithali, iikhomputha ezincinci, okanye ii-microprocessor{3}}iinkqubo ezilawulwayo.
Iipleyiti zePin zezona nkqubo zixhaphakileyo zolawulo, zilandelwa yicam{0}}igubu eliqhutywayo. Ezi nkqubo zineekhamera ezininzi, nganye inikezelwe kwi-axis eshukumayo, kwaye i-revolution enye yegubu igqibezela umjikelo omnye.
