PLC-based control of a robot manipulator with closed kinematic chain

Bonfè, Marcello; Vignali, Matteo; Fiorini, Mario

doi:10.1109/robot.2009.5152281

Cited by 6 publications

(2 citation statements)

References 4 publications

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“…Modern PLCs have most of the times sufficient computational bandwidth to execute also complex mathematical calculations and their programming languages (i.e. IEC 61131-3 or Ladder diagram) allow to easily implement any kind of algorithm that can be used in robot control [8]. This paper will introduce a novel 2-DOF translational parallel robot named as T2 in section II, which is actually a six-bar mechanism in the vertical plane with a passive chain in the transversal plane to make the orientation of the moving platform unchangeable.…”

Section: Introductionmentioning

confidence: 99%

Low-Cost PLC-Based Control of a 2-DoF Purely Translational Parallel Robot

2011

AMR

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This paper describes the design and implementation of a low-cost robot control system based on a Programmable Logic Controller (PLC). The robot is a 2-DoF (Degrees of Freedom) purely translational mechanism, which has potential application in food and electronics industry for high speed pick-and-place operation. Combined with a conveyor belt, it can make 3-DoF purely translation motion. In this paper, the inverse kinematics, forward kinematics, singularity, and workspace analysis are presented. The control system architecture and software design is also introduced. The prototype is exhibited at last.

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Section: Introductionmentioning

confidence: 99%

Low-Cost PLC-Based Control of a 2-DoF Purely Translational Parallel Robot

2011

AMR

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“…A typical example is given by a robot which must track objects (to be grasped or machined) on a conveyor. Since objects may arrive unordered and with a varying rate it is necessary to generate online the trajectory in order to correctly track the objects of interest [4]. In all the above mentioned applications, it is necessary to plan trajectories compliant with the kinematic constraints (i.e.…”

Section: Introductionmentioning

confidence: 99%

Online trajectory planner with constraints on velocity, acceleration and torque

Biagiotti

Zanasi

2010

2010 IEEE International Symposium on Industrial Electronics

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A filter for trajectories smoothing is presented. The filter provides an output reproducing the input trajectory if this is compliant with given constraints on the velocity, the acceleration and the torque required for tracking it. Otherwise, the filter approximates the input profile guaranteeing that the output trajectory satisfies all the kinematic and dynamic limits. The tracking of the input signal is optimal in the sense that at each time instant the limit value of one among velocity, acceleration and torque is reached. The filter, based on a variable structure controller, is designed in the continuous-time domain but can be implemented by discretization as a sampled system. It can therefore used in mechatronic and robotic applications driven by digital controllers in order to filter trajectories planned without considering the above mentioned constraints or to generate realtime smooth trajectories by simply providing basic inputs such as step or ramp functions.

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