his.sePublikationer
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Function Block Algorithms for Adaptive Robotic Control
Högskolan i Skövde, Institutionen för ingenjörsvetenskap.
Högskolan i Skövde, Institutionen för ingenjörsvetenskap.
2014 (Engelska)Självständigt arbete på grundnivå (yrkesexamen), 20 poäng / 30 hpStudentuppsats (Examensarbete)
Abstract [en]

The purpose of this project is the creation of an adaptive Function Block control system, and the implementation of Artificial Intelligence integrated within the Function Block control system, using IEC 61499 standard to control an ABB 6-axis virtual robot, simulated in the software RobotStudio. To develop these objectives, we studied a lot of necessary concepts and how to use three different softwares. To learn how to use the softwares, some tests were carried out. RobotStudio is a program developed by ABB Robotics Company where an ABB robot and a station are simulated. There, we designed and created a virtual assembly cell with the virtual IRB140 robot and the necessary pieces to simulate the system. To control the robot and the direct access to the different tools of RobotStudio, it is necessary to use an application programming interface (API) developed by ABB Robotics Company. C sharp (C#) language is used to program using the API, but this language is not supported by the Function Block programming software nxtStudio. Because of this, we used VisualStudio software. In this software, we use the API libraries to start and stop the robot and load a RAPID file in the controller. In a RAPID file the instructions that the robot must follow are written. So, we had to learn about how to program in C# language and how to use VisualStudio software. Also, to learn about IEC 61499 standard it was necessary to read some books. This standard determines how an application should be programmed through function blocks. A function block is a unit of program with a certain functionality which contains data and variables that can be manipulated in the same function block by several algorithms. To program in this standard we learnt how to use nxtStudio software, consuming a lot of time because the program is quite complex and it is not much used in the industrial world yet. Some tests were performed to learn different programing skills in this standard, such as how to use UDP communication protocol and how to program interfaces. Learning UDP communication was really useful because it is necessary for communication between nxtStudio and other programs, and also learning how to use interfaces to let the user access the program. Once we had learnt about how to use and program the different softwares and languages, we began to program the project. Then, we had some troubles with nxtStudio because strings longer than fourteen characters cannot be used here. So, a motion alarm was developed in VisualStudio program. And another important limitation of nxtStudio is that C++ language cannot be used. Therefore, the creation of an Artificial Intelligence system was not possible. So, we created a Function Block control system. This system is a logistical system realised through loops, conditions and counters. All this makes the robot more adaptive. As the AI could not be carried out because of the different limitations, we theoretically designed the AI system. It will be possible to implement the AI when the limitations and the problems are solved.

Ort, förlag, år, upplaga, sidor
2014. , s. 99
Serie
Dissertation Series
Nyckelord [en]
FUNCTION BLOCK ALGORITHMS FOR ADAPTIVE ROBOTIC CONTROL
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:his:diva-9733OAI: oai:DiVA.org:his-9733DiVA, id: diva2:738513
Ämne / kurs
Automatiseringsteknik; Automatiseringsteknik
Utbildningsprogram
Automatiseringsingenjör; Automatiseringsingenjör
Presentation
2014-06-04, E110, 13:50 (Engelska)
Handledare
Examinatorer
Tillgänglig från: 2014-08-19 Skapad: 2014-08-18 Senast uppdaterad: 2014-08-19Bibliografiskt granskad

Open Access i DiVA

FUNCTION BLOCK ALGORITHMS FOR ADAPTIVE ROBOTIC CONTROL(4972 kB)1161 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 4972 kBChecksumma SHA-512
02a9a20dab8f963bfde64fb34288e0b084325857932940b77e333239cf7db5b5d02f9aa1f31eb9edbea95581ee2d398a5694250b9d6699519868b56aaf612eb5
Typ fulltextMimetyp application/pdf

Av organisationen
Institutionen för ingenjörsvetenskap
Robotteknik och automation

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 1161 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

urn-nbn

Altmetricpoäng

urn-nbn
Totalt: 879 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf