Programming and control of an industrial robotic system
Ημερομηνία
2002Λέξη-κλειδί
Επιτομή
The importance of robotic systems in the automation of industrial units is well known. In this paper is described the logic programming and computer control system of a robotic manipulator (IBM Scara robot) utilized in specific palletizing and assembling tasks in a machines constructions company. At low level of communication control is achieved through AML assembly routines in conjunction with C programming modules, while at user interface Prolog predicates are used for interactive and comprehensive communication. The system incorporates visual data (through a grip camera) for specific objects identification and definition of their location. Effective machine vision processing algorithms intend to strengthen the reliability of system's control and operation in real-time. Although high-level control and task planning in robotics remain a particular difficult problem, this combined approach of low and high level control and image processing algorithms, seems to ease the operator's work and ensures higher quality of operation. After long-lasting tests and measurements of control system's implementation the outcomes and the production results achieved (e.g. reduced errors, time and cost), have reconfirmed its effectiveness compared to previous solutions.
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