8 Robot Control _ PTP, CP_paling baguus.ppt

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

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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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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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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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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Basic hardware architecture
Interface
Interface
Communicatins
processor
Amplifier Encoder
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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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User Interface
Hand programming devices
Display
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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

Robot Programs
Motion commands
I/O Commands
Program-order commands
Events Control Commands
Task-specific commands
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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

Robot motion
Types of robot
movement
Robot Control
Sensor
Control
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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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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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Synchronic-PTP Joint movement
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Θ - movement angle
ITP - Interpolationsinterval
T - travel time
V - speed

CP Movement
Continuous functional relation:
Path points
Motion 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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Axis 1
Axis 2
end
end

Linear CP Movement
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end

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

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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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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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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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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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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Also see:
http://mil.ufl.edu/5666/handouts/Fall12/Robot%20Control.pdf
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8 Robot Control _ PTP, CP_paling baguus.ppt

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