Design and implementation of robotic control for industrial applications

摘要

Background: With the pressing need for increased productivity and delivery of end products of uniform quality, industry is turning more and more to computer-based automation. At the present time, most of industrial automated manufacturing is carried out by specialpurpose machines, designed to perform specific functions in a manufacturing process. The inflexibility and generally high cost of these machines often referred to as hard automation systems, have led to a broad-based interest in the use of robots capable of performing a variety of manufacturing functions in a more flexible working environment and at lower production costs. A robot is a reprogrammable general-purpose manipulator with external sensors that can perform various assembly tasks. A robot may possess intelligence, which is normally due to computer algorithms associated with its controls and sensing systems. Industrial robots are general-purpose, computer-controlled manipulators consisting of several rigid links connected in series by revolute or prismatic joints. Most of today’s industrial robots, though controlled by mini and microcomputers are basically simple positional machines. They execute a given task by playing back a prerecorded or preprogrammed sequence of motion that has been previously guided or taught by the hand-held control teach box. Moreover, these robots are equipped with little or no external sensors for obtaining the information vital to its working environment. As a result robots are used mainly for relatively simple, repetitive tasks. More research effort has been directed in sensory feedback systems, which has resulted in improving the overall performance of the manipulator system. An example of a sensory feedback system would be: a vision Charge-Coupled Device (CCD) system. This can be utilized to manipulate the robot position dependant on the surrounding robot environment (various object profile sizes). This vision system can only be used within the robot movement envelope