Microprocessor-Based Control and Robotics

Question: Discuss the advanced control engineering and robotic system in manufacturing. Answer: Advanced control engineering: - Advanced control engineering is the use of some specific applications like digital controls, semi-automation, automation, and computer and numerical control systems. The advanced control engineering is the application of modern tool and technologies to produce high quality, high productivity, and superior technology and less time consuming service. Advanced Control Engineering is a multi-disciplinary topic, with applications diagonally a broad assortment of engineering sectors. The course is geared for graduates from a variety of scientific and engineering disciplines. The basic purpose of this advanced control engineering is to- Make available a superior learning in control and systems engineering, emphasize current hypothetical development and their realistic appliance. Give a sound elementary indulgent of the main beliefs originating the action of control systems. Allowing the students to pertain modern control ideology in a variety of areas of industry. Digital control system:- Digital control system is the branch of control theory that uses the computers for the input and output of control systems. As per the requirement the digital control system works from microcontroller to ASIC standards based on the type of application used. Digital computers are the discrete systems hence the Laplace transform is replaced by new Z-transform. In digital control system an extra intension is required while doing the AC-DC conversions or DC-AC conversions. As the computers are becoming very less expensive from time to time that makes them the key elements for control systems. Implication of discrete control system: - Digital control systems are generally cascaded in the plant with feedback systems. The other system may be either analog or digital that does not make a great difference- Most commonly a digital controller requires- A D conversion to convert the analog signal input to machine acceptable inputs. D A conversion to convert the digital output of a controller system that can be input to a plant without any difficulty. A program for the control system that can relate the input and output of the controller. Stability in discrete control system: - Even though a controller may be established when implemented as an analog controller, it might be not stable when implemented as a digital controller because of a large experimental interval. For the duration of experimenting the aliasing modifies the cutoff parameters. Thus the taster rate characterizes the transitory reaction and steadiness of the remunerated system, the input values of the controller must be updated in order to avoid any instability. When the different values of frequency are input to the z-tranform it gives a steadiness to the control system, if the input values are not updated before input it may cause unsteadiness to the controller. A criteria known as Nyquist criteria is applied to the z-domain transfer for general functions as well as composite functions to determine the stability criteria for the discrete system stability and its polynomial characteristic. Multi variable control: - Multivariable control techniques provide solution for composite problems and modeling errors pleasingly but the difficulty of the original mathematics is far away from the current in conventional single-input, single-output control systems. Multivariable Control Systems concentrates on control design with frequent references to the realistic aspects of accomplishment. Adaptive control: - Adaptive control is the control method used by a controller which has to become accustomed to a controlled system with parameters that are variables, or are to begin with unsure. For illustration, as an aircraft flies, its mass will slowly diminish as a result of fuel expenditure; a control law is required that adapts itself to such varying conditions. Adaptive control is dissimilar from vigorous control in that it does not require a priori information about the limits on these doubtful or time-varying parameters; robust control guarantees that if the changes are contained by given bounds the control law need not be distorted, while adaptive control is apprehensive with control law altering themselves. Robotic system in manufacturing: - History of industrial robots: - 1954: In the year of 1954 the history of industrial robots started by George Devol. 1956: Devol and engineer Joseph Eagleburger form the world's first robot company, Unimation. 1960: In the year of 1960 the Unimate Corporation is purchased by Condec Corporation. 1978: Vicarm, Unimation creates the PUMA (Programmable Universal Machine for Assembly) robot with support from General Motors. Many research labs still use this assembly robot. 1994: The Motoman MRC control system was introduced with the ability to control up to 21 axes. It could also synchronize the motions of two robots. 2003: OTC DAIHEN introduced the Almega AX series, a line of arc welding and handling robots. The AX series robots integrate seamlessly with the OTC D series welding power supplies for advanced control capabilities. Applications of industrial robots in manufacturing: - The main applications of industrial robots in manufacturing can be divided into three categories Material handling. Processing operations. Assembly and inspection. Material handling: - applications include material transfer and machine loading and unloading. Material-transfer applications require the robot to move materials or work parts from one location to another. Many of these tasks are relatively simple, requiring robots to pick up parts from one conveyor and place them on another. Processing operations: - In robotic processing operations, the robot manipulates a tool to perform a process on the work part. Examples of such applications include spot welding, continuous arc welding, and spray painting. Spot welding of automobile bodies is one of the most common applications of industrial robots Assembly and inspection: -The third application area of industrial robots is assembly and inspection. The use of robots in assembly is expected to increase because of the high cost of manual labor common in these operations. Since robots are programmable, one strategy in assembly work is to produce multiple product styles in batches, reprogramming the robots between batches. Robot specification and selection criteria: - The robot selection criteria depends on some factors like- Robot payload: - The selection of robot is highly dependable on the amount of load that has to be carried by the robot. Number of axis: - The criterion is also depends on the number of axis required for revolving and rotating the industrial robot. Industrial robot reach: - The selection of robot also depends on the range of reach of the robot that has to be attended by the robot on frequent basis of the robot. Reliability: - The reliability of the robot also matters while selecting the robot as the highly reliable robots gets high preference while selecting the robots. Speed: - Speed of robot also has an impact on the selection of the robot as the robots will be selected according to the speed as per the requirement of the application. Robot weight: - Less weighing robots are mostly preferred while selection as they are easy to be transported from one place to another. Brakes and inertia: - The brakes and inertia of the robots should be high enough as per the requirement of the application. IP rating: - IP rating is the indicated power rating that is mentioned on the robot as high IP rating robots will be selected first because they have more power capacity as compared to the low IP rating. Single machine robot cell application: - Single machine robot cell applications can be listed as- Robot cell RZ-FR Robot cell RZ 16 Robot cell RZ 60 Lean Line robot cell RZ Robots on linear unit Pro-mot jet Deburring cell EZ-SL Robot utilization and economic justification: - The utilization of robots in industry is very common and essential now a days because of their wide applications. As the cost of robots is high but they can easily do work of so many people which will ultimately reduce the labor cost and will surely yield profit to the owner. Application of robots in integrated manufacturing: - There are several applications of robots in integrated manufacturing like- Computer-integrated manufacturing includes all the engineering functions of CAD/CAM and the business functions of the firm as well. These business functions include order entry, cost accounting, employee time records and payroll, and customer billing. As the robots are also have integrated and designed in such a way that they can be used for efficient working in hazardous places where human cant work efficiently. References: - BURNS, R. S. Advanced control engineering In-text: (Burns, 2001) Bibliography: Burns, R. (2001). Advanced control engineering. Oxford: Butterworth-Heinemann. CARRENO, V. A., CHOI, G. AND IYER, R. K. Analog-digital simulation of transient-induced logic errors and upset susceptibility of an advanced control system In-text: (Carreno, Choi and Iyer, 1990) Bibliography: Carreno, V., Choi, G. and Iyer, R. (1990). Analog-digital simulation of transient-induced logic errors and upset susceptibility of an advanced control system. [Washington, DC]: National Aeronautics and Space Administration, Office of Management, Scientific and Technical Information Division. CHESMOND, C. J., WILSON, P. A. AND LE PLA, M. R. 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