8. robotic computer systems and programming design and applications of industrial robots...
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8. ROBOTIC COMPUTERSYSTEMS AND
PROGRAMMING
DES IGN AND APPL ICAT IONS OF INDUSTRIAL ROBOTSSABARIG IR IVASAN.RISBN 978-81-908268-0-8
8. ROBOTIC COMPUTERSYSTEMS AND
PROGRAMMING
DESIGN AND APPLICATIONS OF INDUSTRIAL ROBOTSSABARIGIRIVASAN.RISBN 978-81-908268-0-8
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Computer System of a Robot
1. A robot is programmable hence it should have adequate computing facilities.
2. Main components of a computing system are broadly classified into two types, they are
a) Hardware
b) Software
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Hardware
1. All electronic devices forming the physical components of the computing system are known as Hardware.
2. Hardware components a) Microprocessor for data processing and controlling
b) Temporary memory unit
c) Permanent storage unit
d) Display unit
e) Communication peripherals
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Hierarchy of Robot Computer
1. Processors in the robot computer system is arranged in a hierarchical manner.
2. The robot computer is configured witha) Master controller
b) Slave controller
3. Master controller communicates with all slave controller for sending and receiving control and data signals.
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Hierarchy of Robot ComputerHierarchy of Robot Computer
JC1, JC2, JC3, JC4, JC5, JC6 – Joint controllersGC – Gripper controller
Communicationperipherals
Communication line
JC1 JC2 JC6JC5JC4JC3 GC
To other computer systems
Program input MonitorMaster
ControllerCPU
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Master Controller
1. Master controller has its architecture and operating principles similar to a personal computer.
2. It has three main unitsa) Input unit
• Key board, Teach pendant
b) Central Processing Unit (CPU)• 32 bit microprocessor• RAM, Permanent storage memory
c) Display unit• CRT or LCD Monitor
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Master ControllerMaster Controller
CPU
Teach pendant
Key board
Input unit
Monitor
Communicationperipherals
Permanent storagememory
Microprocessor
External RAM
Output unit
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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MicroprocessorMicroprocessor
I/O ports
ALU
Registers
Control unitTimer
RAM(cache)
System clock
System Bus
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Slave Controller
1. The individual joint controller provided for each joint is referred as slave controller.
2. 8 bit or 16 bit microcontrollers are used.
3. A microcontroller is a microprocessor with low computing power but with additional circuits like integrated ADC, CCP module, PWM module, USART module.
4. It has two types of onboard memory.a) RAM – Used to store temporary data.
b) ROM – Used to store program instructions.• OTPROM and Flash memory are widely used.
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MicrocontrollerMicrocontroller
Programmemory
I/Oports
Datamemory
Flash memory
ALU
Registers
Controlunit Timer 1 Timer 2
CCPmodule
ADC
USARTRAMSystemclock
System Bus
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Communication Systems
1. Communication between two units is needed for exchanging data and control signals.
2. Communication typesa) Serial communication
b) Parallel communication
3. Data transmission modesa) Simplex mode
b) Duplex mode• Half duplex mode• Full duplex mode
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Serial CommunicationSerial Communication
TX/RX
TX/RX – Transmitter/Receiver
TX/RX
Direction of transmissionMSB LSB
Stop bit 2 Stop bit 1 Start bit
B0B1B2B3B4B7 B5B6
101000 01
Data communication line
(a) Serial communication system
(b) Serial data transmission format D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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Parallel CommunicationParallel Communication
TX/RX
TX/RX – Transmitter/Receiver
TX/RX
Individual data lines for each bit
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Data Transmission ModesData Transmission Modes
TX/RX – Transmitter/Receiver
TX RX
TX/RX TX/RX
TXRXTX
RX
(a) Simplex mode(b) Half Duplex mode(c) Full Duplex mode
(a)
(b)
(c)
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Communication Interface and Protocols
1. RS232 – 20Kbps over 15m
2. Universal Synchronous Asynchronous Receiver Transmitter (USART)
3. Universal Serial Bus (USB)a) USB 1.0 – 1.5 Mbps
b) USB 1.1 – 12 Mbps
c) USB 2.0 – 480 Mbps
4. Controller Area Network (CAN) – 1 Mbps over 40 m
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USARTMasterclock
Transmitterclock
Receiverclock
Transmitter Receiver
Transmitter Receiver
Clock line
Data line
Data line
(a) Synchronous transmission
(b) Asynchronous transmission
USART
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CANCAN
. . . .
Node 1 Node 2 Node n
Microcontroller
CAN_H
CAN_L CAN Bus
CAN module
Microcontroller
CAN module
Microcontroller
CAN module
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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Additional Peripherals
1. Additional I/O channels are provided for interfacing additional sensors and controllers
2. Analog to Digital Converter (ADC)Used to convert an analog signal to digital format.
3. Digital to Analog Converter (DAC)Used to convert digital codes into its proportional analog signal.
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Analog to Digital ConverterAnalog to Digital Converter
Analog Input
Sampleand
Hold circuitADC
MSB
LSB
DigitalOutput
Start End of Conversion (EOC)
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Reference voltage
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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Digital to Analog ConverterDigital to Analog Converter
MSB
Analog Output
DAC
LSB
DigitalInput
FinalOutputvoltage
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�ܨ� (Reference voltage)ܥܥ�
� �
� � +�– �
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Software
1. Software is the set of instructions fed in a specific format to the hardware to perform certain task in the required sequence.
2. Software is broadly classified into two types they area) Operating system
b) Application programs
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Operating System
1. Operating system is the computer program that supervises and coordinates the functions of various hardware components inter connected in the computer system.
2. It accepts the robot program written in high level language and converts it into machine language.
3. Compiler or Interpreter is used for this purpose.
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Operating System
4. Machine language is the assembly language program that has opcodes in binary form.
5. Each opcode has a specific function to do for a specific kind of microprocessor.
6. The operating system provides three main operating modes for organizing a program,a) Monitor mode
b) Run mode
c) Edit mode
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Application Programs
1. They are the actual robot program fed to the computer for controlling the robot motion.
2. They are created individually for each kind of application.
3. They are actually compiled by human programmers using any one of the programming methods.
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Robot Programming
1. Programming is the process of loading a set of instructions in a specific format so that the robot controller can process them to move the arm and the endeffector.
2. The set of instructions that drives the robot is known as robot program.
3. Robot programming is of two typesa) Lead through programming
b) Textual programming
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Lead through Programming
1. In lead through programming the robot is moved along the required path to the required destination and the joint angles and positions generated during this motion are recorded in the controllers memory.
2. These set of points recorded during the motion constitute the program for the path generated.
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Lead through Programming
1. It is of two types,a) Manual lead through programming
• Robot is moved manually by the operator using a special handle.
b) Powered lead through programming• Robot is moved by powering its own actuators.• Teach pendant is used to move the robot while
programming.• Joint motions, motion along xyz coordinates and
tool point coordinate motions are employed to define points on the required path.
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Textual Programming
1. Instructions that are required to drive the robot are compiled using a high level language that has human readable words.
2. The program in the high level language is converted into machine language with the help of a compiler or interpreter.
3. The controller can thus process the machine code to drive the robot.
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Programming Languages
1. Generations of languagea) First generation language – Limited capabilities
b) Second generation language – Advanced features
c) Future generation languages – World modeling
2. Some programming languagesa) AL
b) AML
c) RAIL
d) RPL
e) VAL
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Artificial Intelligence
1. Artificial intelligence (AI) is the intelligence capability built into a machine to function and make decision of their own in response to their environmental stimulants.
2. AI enabled machine can behave just like humans or other natural animals do.
3. AI for a machine can be achieved by processing vast amounts of data in a sequential manner.
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4. It needs a computer with very large storage and computing power.
5. Features of an AI enabled machinea) Problem solving
b) Learning
c) Video and audio based recognition
Artificial Intelligence
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Methods to achieve Artificial Intelligence
1. Decision making using AI is achieved by analyzing vast amount of data representing the characteristic properties of a problem or situation.
2. Techniques to achieve AIa) Logical interpretation – Boolean algebra
b) Artificial Neural Networks
c) Frames
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