SISTEM KAWALAN

PRESENTED BY :
Suffian Bin Ayob
 TUJUAN PEMBELAJARAN:

• Menerangkan tentang sistem kawalan

yang digunakan dalam pengawalan
pergerakan robot industri.
• Menerangkan perbezaan diantara kaedah
kawalan servo dan non-servo robot.
• Menerangkan tentang sistem ko-ordinat
yang digunakan bagi robot industri.
 PENGENALAN
• PENGAWAL (CONTROLLER) ADALAH MERUPAKAN
PERANTI PEMPROSES MAKLUMAT DAN
KOMUNIKASI YANG MEMULAKAN DAN
MENGKOORDINASIKAN PERGERAKAN DAN
ATURAN BAGI ROBOT.

• IA MENERIMA MASUKAN YANG PENTING KEPADA

ROBOT DAN MEMBEKALKAN ISYARAT PACUAN
KELUARAN KEPADA MOTOR PENGAWAL ATAU
PENGGERAK UNTUK MEMADANKANNYA DENGAN
PERGERAKAN ROBOT DAN DUNIA LUAR.
 PENGENALAN
• BAHAGIAN MASUKAN DAN KELUARAN BAGI SISTEM
PENGAWAL MESTILAH MEMBERIKAN KOMUNIKASI
ANTARAMUKA DI ANTARA PENGAWAL ROBOT DAN
BAHAGIAN-BAHAGIAN BERIKUT:

– PENDERIA SUAP BALIK

– PENDERIA DALAM SISTEM PEMBUATAN
– PERALATAN MESIN PEMBUATAN
– PERALATAN MENGAJAR (TEACHING DEVICE )
– PERKAKASAN PENYIMPANAN
PENGATURCARAAN (PROGRAM STORAGE
DEVICES, HARD COPY DEVICES).
 TEKNIK KAWALAN ROBOT
• Teknik yang digunakan utk mengawal
pelbagai paksi robot
• Dua kelas biasa:
– Non-servo-controlled robots (Limited
Sequence Control)
– Servo-controlled robots
• Point-to-point servo-controlled robots
• Continuous-path servo-controlled robots
 NON-SERVO-CONTROLLED
ROBOTS
• Juga dikenali sebagai Limited sequence robot/ End
point-robot/ Pick-and-place robot/ Bang-bang robot
• Sifat utama
– Paksi berada dalam gerakan hingga mencapai had pergerakan
• Tiada pemantauan utk pergerakan (velocity atau posisi)
melalui penderia luaran.
• Pergerakan dikawal oleh suis had (limit switches) dan
pemberhenti mekanikal (mechanical stops)
• Terhad utk operasi pick-and-place (angkat & letak) yg
mudah
 NON-SERVO-CONTROLLED
ROBOTS
• Robot yang menggunakan sistem kawalan gelung
terbuka juga dikenali sebagai Robot Non-Servo.
• Robot jenis ini tidak mempunyai penderia kedudukan
dan penderia kadar perubahan yang dipasang pada
paksi-paksi lengannya.
• Kedudukan lengan robot hanya boleh ditentukan oleh
alat-alat pemberhenti seperti suis had (limit switch) yang
dipasang pada penghujung laluannya.
• Contohnya, sekiranya ia melakukan kerja kimpalan,
pada kedudukan hujung kimpalan yang dibuat, perlulah
dipasang dengan suis yang akan memberhentikan
pergerakan lengan robot (pengolah).
• Kelajuan bagi pengolah pula ditentukan oleh jenis
penggerak yang digunakan.
 NON-SERVO-CONTROLLED
ROBOTS
• Biasanya kelajuan penggerak adalah pada tahap
maksima.
• Sesetengah sistem pula menggunakan penderia had
untuk menentukan bahawa sesuatu paksi pengolah telah
mencapai kedudukan akhirnya.
• Akibat dari pergerakan pengolah bergantung kepada
kelajuan penggerak, robot jenis ini selalunya
diberhentikan secara tiba-tiba menyebabkan berlaku
perlanggaran kecil antara penggerak dengan suis had.
• Ini menyebabkan ia juga dikenali sebagai robot “bang-
bang”.
 KEBAIKAN & KEBURUKAN
Kebaikan robot jenis ini adalah :
a) ia lebih mudah dan murah disenggarakan.
b) ia tidak memerlukan penderia-penderia yang mahal.

Kelemahan robot jenis ini ialah :

a) Kebolehannya terhad dari segi kedudukan dan aturcara.
Maksudnya ialah, kedudukan kerja pengolah tidak dapat
diubahsuai kecuali dengan mengubah kedudukan suis penghad.
b) Ia juga mempunyai kebolehulangan yang rendah iaitu
(Contohnya:+ 0.01 inci (0.254 mm).
c) Aturcaranya adalah terhad dan ia tidak dapat menjalankan tugas-
tugas yang agak rumit.
d) ia juga memerlukan masa yang lama untuk menyudahkan setiap
tugas. Apabila masa kendalian yang sebenar lebih cepat dari
masa yang dijangkakan, sistem akan mengalami keadaan
melahu.
 Rajah Sistem Kawalan Gelung Terbuka
(Non-servo-controlled robots)

Pengawal robot
Isyarat kepada pemacu
Unit kawalan bagi
penggerak penggerak

Penggerak
hidraulik/ (ii)
elektrik
(iii)

(i) Sudut sendi yang

 dikehendaki

Data bagi kedudukan seterusnya

Penderia dalaman -sudut ingatan sambungan
(Positon & velocity
sensor)
 Kendalian Sistem Kawalan Gelung Terbuka

• Apabila pengesan hujung tiba di sesuatu titik tertentu

(pemberhentian menggunakan suis had) , unit kawalan robot akan
membaca data bagi titik yang seterusnya. Ini berlaku pada
kedudukan (i).
• Unit kawalan robot seterusnya akan menentukan „joint angle‟ ()
yang sesuai untuk paksi pengolah bergerak ke titik yang
seterusnya.
• Langkah seterusnya berlaku di titik (ii), di mana unit kawalan robot
akan memberi isyarat kepada unit kawalan penggerak (actuator
driver) supaya menghantarkan data-data mengenai kedudukan
seterusnya kepada penggerak (actuator) yang letaknya di sendi
setiap pengolah di titik (iii).
• Penggerak akan menggerakkan pengolah ke titik yang diarahkan
oleh unit kawalan robot.
 Servo-controlled Robots
(Sistem Kawalan Gelung Tertutup)
• Maklumat (posisi,velocity, dll) sentiasa dipantau dan
disuapbalik kepada sistem pengawal setiap persendian
(joints).
• Boleh mengawal velocity, acceleration, deceleration utk
setiap persendian (joints) yg berbeza
• Berasaskan closed-loop servo
– Posisi paksi robot diukur oleh peranti suapbalik (feedback) dan
dibandingkan dgn titik yg disimpan didalam memori pengawal.

• Terdiri daripada 2 jenis kawalan:

a. Point-to-point servo-controlled robots
b. Continuous-path servo-controlled robots
 Servo-controlled Robots
(Sistem Kawalan Gelung Tertutup)
• Sistem kawalan gelung tertutup juga dikenali sebagai
“robot kawalan Servo” (servo controlled robot) atau
sistem berkadaran terus.
• Ia merupakan robot yang pergerakannya dikawal
dengan kaedah gelung tertutup iaitu, kedudukan dan
kelajuan titik tengah matalatnya (TCP) boleh diawasi
secara berterusan dengan menggunakan penderia
kedudukan (potentiometer,resolvers,encoders) dan
penderia kelajuan (tachometer).
 KEBAIKAN & KEBURUKAN
Kebaikan sistem ini adalah :
a) Dapat memastikan bahawa langkah-langkah terdahulu telah
diselesaikan sebelum robot itu memulakan langkah yang
seterusnya yang terdapat di dalam turutan operasi.
b) Kaedah gelung tertutup juga lebih cepat berbanding dengan kaedah
gelung terbuka kerana ia dapat mengetahui kedudukan terakhir titik
tengah matalat. Dengan itu ia dapat meneruskan operasi yang
seterusnya tanpa menunggu isyarat dari penderia luaran.
c) Lebih fleksibel dalam tugasnya
d) Memberikan ketepatan yang tinggi.

Kelemahan sistem ini adalah :

a) Memerlukan kos yang tinggi kerana menggunakan penderia-
penderia dan alatan sokongan yang lebih canggih.
b) Kawalan yang lebih kompleks
Rajah Sistem Kawalan Gelung
Tertutup
Pengawal Robot

Unit kawalan
bagi
(iii) penggerak (v)
Penggerak
hidraulik/
elektrik
(vi)
Pembanding
kelajuan
(iv)
Pembanding
Kedudukan

(ii) Penderia Data bagi kedudukan seterusnya

dalaman -kelajuan dan kedudukan sendi (i)
Kendalian Sistem Kawalan Gelung Tertutup

1. Rajah di atas adalah menunjukkan sistem gelung tetutup.

2. Maklumat mengenai kedudukan dan kelajuan lengan diawasi
secara berterusan oleh unit kawalan robot.
3. Data bagi kedudukan–kedudukan yang perlu dilalui oleh robot telah
dimasukkan ke dalam unit kawalan (robot controller) semasa
pengaturcaraan dibuat.
4. Ianya tersimpan di dalam ingatan (memory) untuk data bagi
kedudukan (I).
5. Apabila sampai di satu-satu kedudukan, penderia dalaman yang
terdiri dari penderia kedudukan dan penderia kelajuan yang berada
pada sendi pengolah (lI) akan menghantar data mengenai
kedudukan tersebut kepada unit kawalan.
6. Di dalam unit kawalan, pembanding kelajuan (velocity comperator)
(III) dan pembanding kedudukan (position comparator) (IV) akan
membandingkan data bagi kedudukan tersebut dengan kedudukan
yang seterusnya.
Kendalian Sistem Kawalan Gelung Tertutup

7. Maklumat ini akan diproses oleh pembanding kelajuan (velocity

comparator) dan pembanding kedudukan (position comparator)
dan seterusnya disalurkan kepada unit kawalan bagi penggerak
(actuator driver) (V). „Actuator driver‟ seterunya menghantar isyarat
kepada penggerak (actuator) (VI) yang terdapat di setiap sendi atau
sambungan pada pengolah (manipulator).

8. Pengolah seterusnya akan bergerak ke sasaran dengan tepat dan

dengan kelajuan yang ditetapkan oleh aturcara.

9. Arah pergerakan pengolah boleh dikawal setiap masa dan boleh

diubah haluan mengikut sasaran. Kelajuan penolah pula boleh
dipercepatkan atau diperlahankan mengikut keperluan operasi.

10.Bekalan kuasa kepada penggerak juga boleh dilaraskan secara

berterusan supaya pergerakan yang dialami oleh pengolah sesuai
dari segi haluan dan kelajuan yang dikehendaki.
 Control Systems
• The control systems of an industrial robot determine its
flexibility and efficiency, within the limits set beforehand
by the design of the mechanical structure.
 Purpose of the Control System.
• The control system provides a logical sequence for the
robot to follow.
• The system provides the theoretical position values
required for each step and continuously measures the
actual position during movement.
• As the robot operates, the control system evaluates the
theoretical/actual difference, together with other
measured values and stored data (e.g., theoretical
speeds), and produces actuating variables to drive the
robot.
 Types of Control Systems
• There are two basic types of control systems:
i. the point-to-point control system and
ii. the continuous path control system
 Point-to-point (PTP) servo-
controlled robots
• Also known as playback robots with point to point
control.
• By using point-to-point controller : only positions that are
essential for the job are approached.
• These points are for loading and unloading stations as
well as points where the direction has to be changed.
• The controller traverses an arbitrary path (not planned)
and therefore only used if robot traveling path is not
critical (no obstruction along the path/collision free)
 Point-to-point (PTP) servo-
controlled robots
• With point-to-point control, the robot records the point
where it picks up a part and the point where it releases
that part.
• The robot then determines the best path to take between
the two points .
• The point-to-point system is used when greater
repeatability is required, or when the path between
endpoints does not matter.
• Point-to-point control systems work well in loading and
unloading applications
 Point-to-point (PTP) servo-
controlled robots
• Advantage : The robot only used optimized paths and
is therefore able to execute faster movements.
• Disadvantage : The PTP controller must never be
apply under the risk of collision.
• Remedy : If a higher number of points is programmed,
collision can be avoided even if the PTP controller is
used.
 Possible PTP Path

Point A

Undefined Path

Point B
 Continuous-path servo-controlled
robots
• The continuous path controller traverses a determined
path between two points.
• This path can be a circle, a straight line or another
mathematically definable function.
• This is usually accomplished by making the robot move
through a series of closely spaced points which describe
the desired path.
 Continuous-path servo-controlled
robots
• A continuous path control system is one in which the
robot is programmed to follow an irregular path exactly.
• Inside the control system, the path to be travelled is
represented by a large number of points in close
proximity; these points are stored in the robot's memory.
• In the working cycle, the robot follows the points to
reproduce the desired path.
• The system is used for jobs when the robot is required to
follow a specific path, such as in arc welding ,painting or
spray coating.
• (Aplikasi yg memerlukan pegerakan melalui work space
yg kompleks dan bergerak pada kelajuan yg tinggi
(spray painting, polishing, grinding, arc welding)
 Continuous-path servo-controlled
robots
• The individual points are defined by the control unit
rather than the programmer.
• To achieve continuous path control to more than a
limited extent requires that the controller unit capable of
storing a large of number of individual points location
that define the compound curved path.
 Continuous Path Control

Point B Point C

Straight Path

Circular Path

Point A
 Robot coordinate systems
World coordinate system
• This is the reference coordinate system that expresses the current position coordinates of the
robot.

Base coordinate system

• This is a coordinate system determined with using the robot's base install surface as a reference.
The relation to the work coordinate system is determined according to the standard base
coordinate parameter

Mechanical interface
• This is a coordinate system determined with using the coordinate system robot's flange surface as
a reference.

Tool coordinate system

• This is a coordinate system installed on the robot flange surface as a reference.
• The relation with the mechanical interface coordinate system is determined according to the"
standard tool coordinate parameter"
Right Hand-Rule Of Thumb
THE ROBOT COORDINATE
SYSTEMS
(Additional Notes)
 Limited Sequence Control

• The application programming is done by mechanical setup; that is,

the endpoints of travel for each axis are established by placing a
mechanical stop on each end of the axis, and the activation timing of
an axis or of the gripper is fixed by placing pegs as desired in a
mechanical timing drum.
• System controlled by mechanical stops or sensors
• Few limited positions
• Limited sequence motions
• Brakes through use of valves or dampers
• Often hydraulics or pneumatics actuators
• Pick & Place applications
• Often used in grippers and fixtures, not common in robot arms.
 Advantages
• High speed, fast movements
• Good end positioning and
• repeatability
• Low cost
• Simple to handle and
• Easy to maintain
• High reliability
 Disadvantages
• Limited control
• Long setup time
• No control between movements
• Limitations in manipulator structure
 P-T-P Control

• Capable of performing motion cycles that consists of a

series of desired point locations and related actions.
• The robot is taught each point, and these points are
recorded into the robot‟s control unit.
• During playback, the robot is controlled to move from
one point to another in the proper sequence.
 P-T-P Control
• Point-To-Point robots do not control the path taken by
the robot to get from one point to the next.
• If the programmer wants to exercise a limited amount of
control over the path followed, this must be done by
programming a series of points along the desired path.
 P-T-P Control

• Uses some type of electronic memory to record a number of

positions for the manipulator
• Each position represents a value for each axis and each sensor of
the robot
• Takes consideration only to the next programmed pose.
Trajectory between poses is unknown, but closed loop control is
used to define speed, acceleration, etc.
• Three different types:
i. One joint at a time: joint can‟t move simultaneously
ii. Slew motion: All joints that require motion start simultaneously at
default joint speeds
iii. (linear) Joint interpolation: all joints that require movement start
simultaneously and stop simultaneously.
 Advantages
+ Relatively low cost
+ More flexible than limited sequence
+ Simple kinematics
+ No need for physical changes when programmed
 Disadvantages
- Limited communication possibilities with peripheral
equipment
- Trajectory unknown
- Controller has limited memory
 Continuous Path Control

• Must be able to record and play back the robot's position many time
each second
• Most continuous path controllers use sensor information to keep
track of position
• Several joints can move simultaneously in some user specified
trajectory.
The most useful ones are linear and circular interpolations.
1. • Linear interpolation: The robot attempts to achieve a linear line
while maintaining the tool orientation. Can be difficult for a non-
Cartesian robot. In order to maintain a straight line, the speed of the
joints must vary along the path.
2. • Circular interpolation: the robot achieves a circular motion while
maintaining the tool orientation. In addition to end point, you have to
specify a middle point.
 ADVANTAGES
• Known trajectory and controllable
• Higher flexibility
• Useful in machine loading, arc welding, machining, etc.
• Several robots can be coordinated
 DISADVANTAGES
- Requires a more sophisticated controller
- May cause singularities
- More expensive system
 Intelligent Control

• An intelligent robot is a robot that shows a behavior that

may seem to be intelligent.
• Motions are flexible based on sensors and intelligent to
cope with various situations.
• Has the capacity to:
– Interact with its environment
– Make decisions when things go wrong during the work
cycle
– Communicate with humans
– Make computations during motion cycle
– Respond to advanced sensor inputs such as machine
vision
 Intelligent Control
• In addition, they posses capacity for both PTP or C-P
control
• These features require:
1. High level of computer control
2. Advanced programming language
 Glossary
• A trajectory is a time history of position, velocity and acceleration for each
joint.
• Trajectories are computed at run time and updated at a certain rate
• Simultaneous: Happening or being done at exactly the same time
• Singularity - A position in the robot's workspace where one or more joints no
longer represent independent controlling variables. Singularity problems
surface when trying to control robots in Cartesian space. A robot singularity
occurs when robot axes are redundant (more axes than necessary to cause
the same motion) or when the robot is in certain configurations that require
extremely high joint rates to move at some nominal speed in Cartesian
space.