Research review

Industrial Robot Control by PLC Technology

The research paper titled "Industrial Robot Control by PLC Technology" by Djembissi Fogue
Pascal explores the control system for industrial robots using programmable logic controllers
(PLCs). The study, commissioned for the Hangzhou Dianzi University of Computer Science and
Technology, aims to understand the control system for robots, focusing on the use of PLCs.

Introductionn
The introduction provides insights into the public perception of robots, often influenced by
science fiction depictions of humanoid androids. However, it clarifies that real-world robots
primarily serve practical purposes in industries such as automotive, medical, manufacturing, and
space exploration. The paper acknowledges the limitations of current robotic technology in fully
replicating human behavior and interaction with dynamic environments.

Moving on to the main objectives of the research, the paper outlines the framework for
understanding robotic control systems using PLCs. It discusses the essential characteristics of
robots, including sensing, movement, energy supply, and intelligence. The discussion highlights
the interdisciplinary nature of robotics, involving fields such as physics, mechanical engineering,
electrical engineering, and computing.

The paper then delves into the background of the thesis project, conducted at Hangzhou Dianzi
University's Laboratory of Computer Science and Technology. The project aims to develop a
comprehensive understanding of robotic motion control, focusing on automatic movements and
precise positioning. It emphasizes the practical application of engineering knowledge in
designing and implementing control systems for robots.

A specific robotic model, referred to as "Robotic Linkhou," is introduced as the focus of the
thesis project. This Chinese robot features six axes driven by DC motors and is controlled
manually using potentiometers for each joint. The paper describes the control mechanism,
which utilizes feedback amplifiers and comparator circuits to regulate the robot's movements.

Overall, the literature review provides a comprehensive overview of industrial robot control
systems, emphasizing the role of PLC technology in enhancing automation and efficiency in
various industries. It sets the stage for further research into the practical implementation of
control systems for industrial robots, with a focus on the specific robotic model studied in the
thesis project.

the research puts the following figure as an example below.

 Working Mechanism,
In this section the research provides a detailed explanation of the working mechanism of
the robotic system, focusing on the control of motor movement using potentiometers. it
explains how the output voltage for driving the motor is determined by the voltage values of two
potentiometers: the driving potentiometer and the axis potentiometer.

The description clarifies the roles of each potentiometer within the feedback amplifier circuit.
The driving potentiometer serves as the input voltage, which can be adjusted by the user, while
the axis potentiometer functions as the feedback voltage, varying the output based on the
position of the axis.

The section further elucidates the relationship between input voltage and feedback voltage,
detailing how the phase difference between them determines the direction of motor movement.
When both voltages are in the same phase, the output becomes positive, driving the motor in a
positive direction until the voltages align. Conversely, when the voltages are in inverse phase, the
output becomes negative, causing the motor to move in the opposite direction until alignment is
achieved. The mechanism ensures that the motor rotates to adjust the axis potentiometer
voltage to match the driving potentiometer voltage before coming to a stop.

Overall, the section effectively conveys the intricate working principle of the robotic system,
providing clear explanations of the control mechanism and the role of potentiometers in
regulating motor movement.

Main Components
The section outlines the main components required for the robotic system, focusing on the
programmable logical controllers (PLCs) and gripper design. It highlights the diverse
requirements of these components and emphasizes the selection process based on specific
criteria.

The description of PLCs provides a comprehensive overview of their functionality and

applications in industrial automation. It explains how PLCs serve as digital computers with input
and output interfaces, programmed to control electromechanical processes. The section
elucidates various programming methods used with PLCs, such as ladder diagrams, structured
text, and functional block diagrams, underscoring their reprogrammable nature and real-time
monitoring capabilities.

Additionally, the section briefly touches on the gripper design requirements, emphasizing the
physical components and features essential for effective gripping operations.

Overall, the section effectively delineates the main components of the robotic system, offering
insights into their functionalities and selection criteria. However, providing more detailed
specifications and examples of specific components could enhance the clarity and depth of the
discussion.

ii,Motor Controller
The section provides a concise yet informative overview of motor controllers and their functions
within the context of electric motors. It defines a motor controller as a device or group of
devices responsible for regulating the performance of an electric motor in various
predetermined ways. The description encompasses several key functionalities of motor
controllers, including starting and stopping the motor, selecting rotation direction, regulating
speed, controlling torque, and protecting against overloads and faults.

The explanation effectively communicates the versatility and importance of motor controllers in
ensuring the efficient and safe operation of electric motors across diverse applications. It
highlights the significance of both manual and automatic control mechanisms in motor
controllers, underscoring their role in providing flexibility and reliability in motor operation.

Additionally, the section introduces the concept of a DC motor, emphasizing its use for driving
the axis of the robot. It briefly discusses the need for torque amplification, achieved through a
gear system embedded in the DC motor, to meet the requirements of the robot's arm. The
inclusion of a visual aid, such as the figure showing a Dayton DC Gear motor, enhances the
clarity and understanding of the discussed concepts.

Overall, the section effectively delivers essential information about motor controllers and their
application in controlling electric motors, providing a solid foundation for understanding their
role in robotic systems.

iii, Potentiometer
The section offers a succinct description of potentiometers, focusing on their structure and
common applications in electrical devices. It introduces a typical single-turn potentiometer and
defines it as a three-terminal resistor with a sliding contact that forms an adjustable voltage
divider for measuring electric potential (voltage).

The description effectively highlights the versatility of potentiometers, noting their widespread
use in various electrical devices, including volume controls in audio equipment, position
transducers, and signal adjustment mechanisms. It emphasizes the importance of
potentiometers in facilitating precise voltage measurement and control, underscoring their role
in enabling user interaction and adjustment in electronic systems.

However, the section could benefit from further elaboration on the specific role of
potentiometers within the robotic system discussed in the research paper. Providing insights into
how potentiometers contribute to the control and feedback mechanisms of the robot's motion
would enhance the relevance and completeness of the discussion.

Overall, while the section provides a clear introduction to potentiometers and their applications,
further contextualization within the scope of the research paper would enhance its effectiveness
in conveying their significance in robotic control systems.

Figure 3.4 . A potentiometer with a three terminal resistor w

iv, Functional Description

The section presents a functional description of a method for monitoring and controlling the
movement of a robotic arm using potentiometers. It outlines a manual control system where the
movement of each joint of the robotic arm is controlled manually through potentiometers
attached to the shoulder, elbow joints, or motors.
The description effectively explains how the rotation of a joint turns the shaft of the
potentiometer, resulting in a change in resistance that indicates the precise position of the joint.
It highlights the practical implementation of this system in controlling the robotic arm's
movements, emphasizing the use of rotary potentiometers for joints with rotational movement.

The section also addresses the limitation of rotary potentiometers in terms of angular freedom,
noting that they typically have a rotation angle of about 0°-280°. This limitation is contextualized
within the requirements of moving the robotic arm in all directions, suggesting that the available
range of motion is sufficient for the intended application.

The inclusion of a figure showing the positioning system using potentiometers enhances the
visual understanding of the described mechanism, providing clarity and context to the functional
description.

V. MATHEMATICAL BACKGROUND

Figure 4.1 below shows the positioning

system using potentiomete

iv.1 Background

The background section provides an insightful explanation of the importance of

defining multiple coordinate systems in robotics problems. It begins by illustrating a
scenario where three coordinate systems, labeled B, H, and P, are attached to different
components of a robot: the base, hand, and the piece it must grasp, respectively. The
section effectively communicates that these coordinate systems facilitate the
description of various aspects of the robot's operation, such as locating points on the
cylinder (P), describing the hand's location (B), and measuring distances from the hand
(H).

Moreover, the section addresses a common challenge in robotics: knowing the position
and orientation of an object relative to one coordinate system (base) and needing to
compute it relative to another (hand) for accurate manipulation tasks. It emphasizes
the significance of both position and orientation in ensuring the hand is properly
oriented to grasp the piece.
The section then sets the stage for further discussion by introducing the concept of
transformation matrices as a means to describe the location and orientation of a
coordinate system relative to another. While it provides a brief overview of how
transformation matrices can be utilized for this purpose, it sets the groundwork for a
deeper exploration of this topic in subsequent sections.

The researcher uses gives the following transiformation matrix as an example below.

from here the researcher to show how this transformation matrix can be used to
describe the location and orientation of a second coordinate system relative to a first
coordinate system.
The research list some examples below These two coordinate systems are shown in the
picture to the right. (The second coordinate system is the one with the tick

marks.) Points can be located relative to either coordinate system. For example the point
P is located at (x’ = 2, y’ = 1, z’= 1) in the second coordinate system and at (x = -5, y 7,z=3)
in the first coordinate system

iv.2 Problem:
A robot‘s hand is supposed to pick up a part. A coordinate system, P, attached to the part
is located relative to the "world" coordinate system, W, by the transformation matrix
below
IV.3 Solution:
The research tries to show When the hand frame, H, and the part frame, P, are aligned
them like below.
v Types of Industrial Robots and How to Choose the Best Fit
The provided excerpt offers a concise overview of five types of industrial robots
commonly used in plant operations: Cartesian, Cylindrical, SCARA, 6-Axis, and Delta. It
begins by highlighting the common misconception that robots mimic human behavior,
but in industrial settings, they primarily focus on productivity and assembly tasks. The
excerpt emphasizes that industrial robots are often categorized based on their
applications, such as handling, palletizing, and packaging.

The text then presents a more comprehensive classification of industrial robots into five
types: Cartesian, Cylindrical, SCARA, 6-Axis, and Delta. It suggests that each type has
distinct characteristics that make them suitable for specific applications, with key
differentiators being speed, size, and workspace. By understanding the operational
aspects of each type, machine designers can make informed decisions when selecting
the most suitable robot for their processes

Cartesian

The research lists the the most commonly used robot type for the majority of industrial
applications is as Cartesian robot type .

Cylindrica

robots are very simple and similar to Cartesian in their axis of motion. Most Cylindrical
robots are made of two moving elements: rotary and linear actuators. Because they
have a cylindrical work envelope, machine designers might select them for their
economy of space.

SCARA

this robots offer a more complete solution than the Cartesian or Cylindrical.
and the researcher metion the other types of robot below.

Delta Robots

The excerpt provides a succinct overview of Delta robots, the fifth and final type among
the industrial robots discussed. It highlights Delta robots as the fastest and most
expensive option, possessing a unique dome-shaped work envelope that allows them to
achieve exceptionally high speeds. The text emphasizes their suitability for fast
pick-and-place or product transfer applications, such as moving parts from a conveyor
belt to boxes or another conveyor belt

VI. FUTURE TRENDS AND INVENTIONS

In the near Future, Robots Will Write News Artificial intelligence,

Major Robotics Trends and Predictions

In the provided information, Zhang from IDC outlines ten significant predictions and
trends in the field of robotics that are expected to shape the landscape in 2017 and
beyond.

Growth of "robot as a service" (RaaS): By 2019, 30 percent of commercial service robotic

applications are projected to adopt the RaaS business model, reducing costs associated
with robot deployment.

Emergence of the chief robotics officer (CRO): By 2019, 30 percent of leading

organizations will establish a CRO role or a dedicated robotics function within their
business structure.

Evolution of the competitive landscape: By 2020, the proliferation of robotics will lead to
an influx of new vendors entering the $80-billion information and communications
technology market, providing organizations with more options for robotics deployment.

Robotics talent crunch: By 2020, rapid growth in the robotics industry will intensify the
competition for talent, resulting in 35 percent of robotics-related positions remaining
unfilled and a significant increase in average salaries.

-Regulation of robotics,By 2019, government entities will introduce specific regulations

governing robotics to address concerns related to job preservation, security, safety, and
privacy.

-Software-defined robots, By 2020, 60 percent of robots will rely on cloud-based

software for defining new skills, cognitive capabilities, and application programs, leading
to the emergence of a robotics cloud marketplace.

-Collaborative robots, By 2018, 30 percent of new robotic deployments will consist of

smart collaborative robots that operate three times faster than current models and are
safe for human interaction in work environments.

-Intelligent RoboNet, By 2020, 40 percent of commercial robots will be interconnected,

forming a shared intelligence network that enhances overall operational efficiency by
200 percent.

-Expansion of robots beyond factories, By 2019, 35 percent of leading organizations in

logistics, healthcare, utilities, and resources sectors will explore robotic automation for
various operational tasks.

-Robotics in e-commerce, By 2018, 45 percent of the top 200 global e-commerce and
omni-channel commerce companies will integrate robotics systems into their order
fulfillment processes.

CONCLUSION

The conclusion highlights the significant advancements in robot controllers, presenting

them as a viable option for controlling input/output (I/O) operations. The controllers
offer flexibility in their use, ranging from basic I/O control through commands in the
robot program to more sophisticated roles such as serving as a node in a PLC network or
even replacing a small PLC entirely. The conclusion suggests that utilizing a robot
controller in place of an external PLC can streamline processes and enhance system
efficiency. Overall, it emphasizes the evolving capabilities of robot controllers and their
potential to revolutionize industrial automation.