8 Robot Control _ PTP, CP_paling baguus.ppt

ppt rbot paling baguus

1. ROBOTICSROBOTICS
TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS
Robot ControlRobot Control

2. Robot Control
•Tasks of the robot control
•Basic hardware architecture of the robot controller
•Configuration of the robot controller
►User interface (User Interface)
► Robot program (Robot Program)
► Robot motion (PTP - Point To Point, CP – Continuous Path)
► Motion control
- Path planning
- Interpolation
- Filtering
•Servo Control
•Sensor Control
•Architecture of the robotic cell
•Development trends in the robot controller
Content:
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

3. Robot Control
A robot controller is a microprocessor-based
electronic control which is programmable to
perform robotic operations.
Source (KUKA)
Source (ABB)
Source (ADEPT)
Source (COMAU)
Source (Motoman)
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

4. Tasks of the robot control
•The robot controller drives the motors of
individual axes and axial movements
coordinated by the TCP to manage accordingly.
•The robot controller controls I / Os (digital and
analog input and output signals) in order to
operate external devices (grippers, tools)
synchronized with the robot motion.
•The robot controller communicates with other
controllers, PCs, or with higher-level computers.
•The robot controller uses sensors to gather
information from the robot environment and to
modify accordingly the robot task.
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

5. Teach pendant
Broad robot control
Robot Control
Controls pre-programmed path of the TCPs (up to 3 robots)
Controls the periphery
Controls the robot axes (up to 27 servo axes)
Controls sensor data
Robot program
Switching
commands
- Control of I / O signals
- Execution of instructions
Periphery
Sensors
Motion control
Path Planning (type of movement, speed)
Interpolation
Servo control
- Dynamics behavior
- Real Time
Actuators
Robot axes
Robot language
Written by
Operator
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6. Basic hardware architecture
Interface
Interface
Communicatins
processor
Amplifier Encoder
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

7. Configuration of the robot controller
Servo-
controller
Motion
control
Program
execution
Interpreter
Network Communication
I/O Control
Senor Control
User Interface
Robot
Programming
language
Control
parameter
memory
External Servo
axis
Sensors
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

8. User Interface
Hand programming devices
Display
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS
On-line programming
Control cable
EMERGENCY ON / OFF button
Axis keys
Interface
Function keys
permission key
Deadmen key
Back View
On-line programming
Off-line programming
Sensor imaging

9. Robot Programs
Motion commands
I/O Commands
Program-order commands
Events Control Commands
Task-specific commands
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS
Type of interpolation
Speed
Type of movement
Position Data
Digital signal commands (Sigon, Sigoff, pulse, gripper open/closed…)
Periphery movement (analog I/O)
Periphery movement (group I/O)
spot Welding
rail welding
tool operation

10. Robot motion
Types of robot
movement
Robot Control
Sensor
Control
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

11. Types of robot motion
PTP Joint movement
Joint Motion
Linear CP Movement
Linear Motion
Circular CP Movement
Circular Motion
PTP
Point-To-point
CP
Continuous
Path
…
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

12. PTP Joint movement
Consecutive movements
(Point to Point) movement
Sunchron-PTP Movement
Start and end points (or intermediate) are
predetermined by the programming.
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

13. Synchronic-PTP Joint movement
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS
Θ - movement angle
ITP - Interpolationsinterval
T - travel time
V - speed

14. CP Movement
Continuous functional relation:
Path pointsMotion axes
The trajectory of the end-effector between the
start and end point is mathematically defined in
the CP (Continuous Path).
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Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS
Axis 1
Axis 2
end
end

15. Linear CP Movement
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Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
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end

16. Circular CP Movement
In the same order as the
linear motion
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end

17. Properties of CP movement
• When used industrial robots preferably
• Used for coating tasks
• High path accuracy more important
• Speed influence should be minimized by technical
control measures
In the case of CP-movement
calculation of the Forward and
Inverse kinematics are necessary!
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

18. Servo control
The execution of movements provides an electronic control
Open loop Closed loop
The movement is normally closed by a
control loop implemented. Individual robot axes move simultaneously
and are therefore influence each other.
- Limit switch
- Stepper motor
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

19. Sensor Control
• The robot will execute the task, or is unsatisfactory from
all over!
- Positions are not exactly known
- Position change during processing
- Measure objects are not known in advance
• Solution: integration of sensors with information from
the environment!
- Visual Information
- Force Information
- Position information
• Modification of the robot task
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

20. Architecture of the robotic cell
Network communication
Exchange of data and programs between
Main computer and robot control (Ethernet)
Communication between
 Transfer of I / O data and messages between
Individual robot controllers or PLCs
High-speed and deterministic transfer
(Profibus, ME-Net, DeviceNet, Interbus-S, ...)
Local serial communication
 Communications with the periphery in a cell
 
Bus connection (larger systems)
 
Direct Cable Connection (smaller systems)

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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

21. Development trends in the robot controller
• Increase accuracy of the robot positioning
 
              - Integration of modules for the accuracy increase
 
              - Robot calibration (Off-line programming)
• Increase use of sensors
 
              - For programming (recognition)
 
              - After programming (consequences)
 
              - Integration of multiple sensor data - Sensor fusion
• Open architecture of the robot controller
 
- Integration of PC-based applications
 
              - Openness to the selected applications
 
              - Security - domain of the robot manufacturer
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS

22. Also see:
http://mil.ufl.edu/5666/handouts/Fall12/Robot%20Control.pdf
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TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS