ROBOTICS Robot Control TEMPUS IV Project 158644 JPCR
ROBOTICS Robot Control TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
Robot Control Content: • 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 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 2
Robot Control A robot controller is a microprocessor-based electronic control which is programmable to perform robotic operations. Source (ADEPT) Source (KUKA) Source (ABB) TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Source (Motoman) Source (COMAU) ROBOTICS 3
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. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 4
Broad 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 Control Switching commands - Control of I / O signals Periphery - Execution of instructions Sensors Robot program Motion control Path Planning (type of movement, speed) Interpolation Teach pendant Robot language Written by Operator Servo control - Dynamics behavior - Real Time Actuators Robot axes 5
Basic hardware architecture Amplifier Encoder Interface Communicatins processor TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 6
Configuration of the robot controller Sensors User Interface Robot Programming language Control parameter I/O Control Program execution Interpreter Senor Control Motion control Servocontroller memory Network Communication TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS External Servo axis ROBOTICS 7
User Interface Hand programming devices On-line programming permission key Deadmen key Back View Axis keys Display EMERGENCY ON / OFF button Interface Control cable Function keys On-line programming Off-line programming Sensor imaging TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 8
Robot Programs Motion commands Type of interpolation Speed Type of movement Position Data I/O Commands Digital signal commands (Sigon, Sigoff, pulse, gripper open/closed…) Periphery movement (analog I/O) Periphery movement (group I/O) Program-order commands Events Control Commands Task-specific commands spot Welding rail welding tool operation TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 9
Robot motion Types of robot movement Robot Control TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Sensor Control ROBOTICS 10
Types of robot motion PTP Joint movement Joint Motion PTP Point-To-point Linear CP Movement Linear Motion CP Continuous Path Circular CP Movement Circular Motion … TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 11
PTP Joint movement Consecutive movements (Point to Point) movement Sunchron-PTP Movement Start and end points (or intermediate) are predetermined by the programming. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 12
Synchronic-PTP Joint movement Θ - movement angle ITP - Interpolationsinterval T - travel time V - speed TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 13
CP Movement Continuous functional relation: Motion axes Path points The trajectory of the end-effector between the start and end point is mathematically defined in the CP (Continuous Path). TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Axis 1 end Axis 2 end ROBOTICS 14
motor control joint position Inverse kinematics Cartesian position Linear CP Movement end TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 15
motor control joint position Inverse kinematics end Cartesian position Circular CP Movement In the same order as the linear motion TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 16
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! TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 17
Servo control The execution of movements provides an electronic control Open loop Closed loop - Limit switch - Stepper motor The movement is normally closed by a control loop implemented. Individual robot axes move simultaneously and are therefore influence each other. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 18
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 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 19
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, Device. Net, Interbus-S, . . . ) Local serial communication Communications with the periphery in a cell Bus connection (larger systems) Direct Cable Connection (smaller systems) TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 20
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 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 21
Also see: http: //mil. ufl. edu/5666/handouts/Fall 12/Robot%20 Control. pdf TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 22
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