Integrated Process and Robot Control

Title

Integrated Process and Robot Control

Abstract

The robot control part of this project is concerned with a problem of creating a tool for off-line programming of industrial robots in terms of precise trajectory planning, advanced dynamic simulation and powerful graphical display of obtained planning and simulation results. By taking advantage of object oriented programming techniques, combined with new technologies such as virtual modeling and Internet-related client-server communication support, the program should provide elegant way of robot selection and parameter definition (either from the robot library or user’s specific definition), easy definition of trajectories related to a robot task, effective testing of planned trajectories by dynamic simulation of open-loop and closed-loop robot joint servo loops (e.g. path accuracy inspection, collision detection) and last, but not least, the program must be able to establish a straightforward connection with the target system (upload and download routines for exchange of data between the program and the robot controller). The process control part mainly has a goal to develop a library of advanced control blocks implemented as function blocks usable in industrial PLCs and PCs. Full functionality of these blocks assumes multimode operation (e.g. manual and auto modes), easy commissioning and clearly described way of usage in the industrial environment. Among many, self-tuning PID, auto-tuning PID with Smith predictor, PDFF and adaptive fuzzy controllers have been made.

Finance

Sitek S.p.A., Verona, Italy

Year

1998-2007

Principal investigators

Zdenko Kovacic, Stjepan Bogdan

Project references

KOVACIC Z., BOGDAN S., PETRINEC K., REICHENBACH T., PUNCEC M., LEONARDO – The Off-line Programming Tool for Robotized Plants”, The CD-ROM Proceedings of the 9th Mediterranean Conference on Control and Automation Control, Dubrovnik, 2001.

SMOLIC-ROCAK N., BOGDAN S., PETRINEC K., KOVACIC Z., “Object-oriented programming approach to dynamic simulation of flexible manufacturing systems”, The CD-ROM Proceedings of the Mediterranean Conference on Control and Automation Control, Dubrovnik, 2001.

BOGDAN S., SMOLIC-ROCAK N., KOVACIC Z., “Dynamic Simulation of Flexible Manufacturing Systems by Using SIMULINK™”, The 3rd World Manufacturing Congress WMC 2001, Rochester Institute of Technology, Rochester, 2001 (event is postponed for April 2002).

KOVACIC Z., BOGDAN S., REICHENBACH T., SMOLIC-ROCAK N., BIRGMAJER B., “FlexMan – A Computer-integrated Tool for Design and Simulation of Flexible Manufacturing Systems”, The CD-ROM Proceedings of the 9th Mediterranean Conference on Control and Automation Control, Dubrovnik, 2001.