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2 PERPUSTAKAAN UTHM 'I "-: -, * '
3 KOLEJ UNIVERSITI TEKNOLOGI TUN HUSSEIN ONN BORANG PENGESAHAN STATUS TESIS JUDUL: A STUDY IN INDUSTRIAL ROBOT PROGRAI\JI\IING SESI PENGAJIAN _-'2::..:0:...:0'--'4'-"/2:...:0..;:.O~5_ Saya YUSMARNIT A BINTI YUSOP (HURUF BESAR) mcngaku membenarkan tesis (Smjdiiil P,Juda 'Sarjana ldalcten EdsaLlrl* ini e1isimpan eli Perpustakaan dengan syarat-syarat kegunaan seperti berikut: I. Tesis aelalah hakl11ilik Kolej Uni\ersiti Teknologi Tun Hussein Onn. I Perpustakaan e1ibenarkan membuat salinan untuk tujuan pengajian sahaja 3. Perpustakaan e1ibenarkan l11embuat salinan tesis ini sebagai bahan plttukaran antara institusi pengajian tinggi. 4. **Sila tandakan (\I"') II II SUUT II II TER.\-IAD (lviengandungi l11aklul11at yang berdarjah keseiamatan atau kepentingan tvlalaysia scperti yang tcrmaktub eli e1alal11 AKTA RAHSIA RA.SMI 1l)72) (Menganciungi maklul11at TERHAD yang tebh ditentukan oleh organisasi/baelan eli mana penydielikan c1ijalankan) o TIDAK TERHAD (j)~ (TANDATANGAN PENUUS) \~r~ hkan oleh iji or- =-- "'-VI (TANDATI\NGAN PENYELlA) Abmat Tdap: KI\I 1(, lalan P ARIT LAlvIPONG. PI\!. DR. ZAINAL ALAI\II-IARON KAI\IPUNG THIEL. 772(}() I\IELAKA.. Nama Pcnyeiia Tarikh: 7J NOVEMBER ;()(}4 Tarikh: 22 NOVEI\IBER 2(1)4 CATATAN: * ** Potong yang tidak bcrkcnaan. Jika tcsis ini SULIT atau TERHAD. sila lampirkan surat daripada pihak bcrkuasajorganisasi bcrkcnaan dcngan mcnyatakan sckali tcmpoh tcsis ini perlu dikclaskan scbagai atau TERHAD. Tcsis dimaksudkan scbagai tcsis bagi 1j'17.1h doktor Falsafah dan Sarjana sccara Pcnyclidikan. atau discrtasi bagi pcngajian sccara kcrja kursus dan pcnyclidikan. atau Laporan Projck Sarjana Muda (PSM).
4 " I hereby declare that I have read this thesis and acknowledge it has achieved the scope and quality for the award of the Degree of Master of Electrical Engineering." Signature Supervisor Date PM. DR. ZAIN:A.L ALAM HARON NOVEMBER 2004
5 A STUDY IN INDUSTRIAL ROBOT PROGRAMMING YUSMARNIT A BINTI YUSOP A thesis submitted in partial fulfillment of the requirements for the award of the Degree of Master of Engineering (Electrical) Kolej Universiti Teknologi Tun Hussein Onn NOVEMBER 2004
6 11 "No part of the study was covered by copyright. References of information obtained from other source are specially quoted; otherwise the rest of the information presented through this study is solely worked and experimentally carried out by the author." Signature Author Date.. l... ~."... YUSMARNITA BINTI YUSOP NOVEMBER 2004
7 \11 I dedicate this to YOll, mum and dad for your undivided love and support for making me the person I am today.
8 IV ACKNOWLEDGEMENT I would like to take this opportunity to exiend my deepest gratitude to all these who have assisted me in making this project a success. A special note of thanks goes to my supervisor, PM. Dr. Zainal Alam Haron for his patience and guidance throughout the course of this project. I would also like to take this opportunity to thank all the technicians who have played a role in accomplishing this project. Not forgetting also to my lovely family and all my dearest friends who have never failed to lend a helping hand when I needed them. Thank you all.
9 v ABSTRACT This project is concerned with learning the tec1mology and programming of servo controlled industrial robots. A Mitsubishi RV-2AJ articulated robot was used in this project. The project work is divided into two parts: In the first part of the project the author familiarized herself with the operation and programming of the robot's manipulator and controller hardware by carrying out some laboratory experiments. A set oflaboratory sheets were produced from this exercise. In the second part, the author studied the mechanics of software control of the robot. A user-defined trajectory planning routine based on the cubic spline fitting function has successfhlly been developed in this project.
10 VI CONTENTS CHAPTER TITLE PAGE ACKNOWLEDGEMENT ABSTRACT CONTENTS LIST OF TABLES LIST OF FIGURES LIST OF APPENDICES IV V vi IX x xii I INTRODUCTION 1.1 Overview 1.2 Industrial~otivation Problem Definition Research Objectives 7 II LITERATURE REVIEW 2.1 Introduction Historical Development Robot Pro[,Tfamming Cubic Spline ~ATLAB Programming 18
11 VlI III METHODOLOGY 20 IV RESEARCH FINDING & DISCUSSION PART I 4.1 Components of Robot System Connecting To The Robot Using RS-232-C Using Ethernet Stable Communication Between The Personal Computer Support Software And The Robot Controller Mitsubishi RV-2AJ Jog Feed Personal Computer Support Software (MELFA) MELFA Robot Programming On-line programming Off-line programming MELFA Robot Programming Language 38 V RESEARCH FINDING & DISCUSSION PART II 5.1 Curve and Interpolation Methods of Interpolation Piecewise Linear Interpolation Piecewise Polynomial Interpolation Interpolation Using Splines Cubic Spline User-Defined Trajectory Planning Routine Using MA TLAB 51 VI FUTURE WORK & CONCLUSION 54 REFERENCES 56 APPENDIX A: LAB SHEET 59
12 VIII APPENDIX B: MA TLAB RESULTS 84 APPENDIX C: CUBIC SPLINE INTERPOLATION THEORY 93 APPENDIX D: SPECIFICATION OF ROBOT CONTROLLER 97 APPENDIX E: SPECIFICATION OF ROBOT ARM 100 APPENDIX F: WORKING ENVOLOPE & HAZARDS 103
13 IX LIST OF TABLES TABLE NO. TITLE PAGE 4.1 On-Line Programming 4.2 Off-Line Programming 4.3 Effective Programming Procedures 5.1 Position Specification
14 x LIST OF FIGURES FIGURE NO. TITLE PAGE 1.1 Joint Interpolation Linear Interpolation Circular Interpolation Continuous Movement Motion Defining Categories PART I - Familiarization PART II - MATLAB Programming Components Of Robot System Example ofrs-232 usage and expansion RS-232 usage Example of connecting multiple robot controllers Personal Computer's RS-232-C Connector Controller's RS-232-C Connector Ethernet Connection Example Communication Server Setting JOINT jog TOOL jog XYZjog MELFA PC TOOL On-Line Programming 36
15 Xl 4.13 Off-Line Programming Operation flow for example I General Description Of Pick and Place Operation Operation flow for example General Description Of Palletizing Operation Polynomial Of Order Four Comparison Between Different Interpolation Routines Interpolation Using Spline Cubic Spline Routine Flowchart MATLAB Simulation 52
16 XII LIST OF APPENDICES APPENDIX NO. TITLE PAGE A B C D E F LAB SHEET 59 MATLAB RESULTS 84 CUBIC SPLINE INTERPOLATION THEORY 93 SPECIFICATION OF ROBOT CONTROLLER 97 SPECIFICATION OF ROBORT ARM 100 WORKING ENVELOPE & HAZARDS 103
17 CHAPTER I INTRODUCTION 1. I Overview Multi-axis machines are used in a variety of applications: pick-and-place operations, welding, machining, etc. Such machines can be divided into two units: the physical mechanism composed oflinks and actuators, and the control system. The number of actuators present in the mechanical system depends on the number of independent machine axes, or degrees of freedom. For example, a typical articulated six degree of freedom manipulator contains six rotating actuators. A five-axis highspeed CNC machining centre would contain three linear actuators and two rotating actuators. A motion task given to the machine must ultimately be represented as a reference signal, which is sent to the control system. The control system acts to makc the machine track the reference signal by activating the appropriate actuators. If the reference signal changes too quickly, given the dynamic limitations of the mach inc, the tracking of the reference signal will be poor, regardless of the control system
18 2 design. Computer algorithms are designed to calculate an appropriate reference signal based on the desired task path and time-related limits (such as speed and acceleration). This reference signal is the trajectory, and can be defined as a locus of points in operational or joint space on which a time-law has been specified [1]. The generation of an appropriate trajectory is the problem that is being investigated in this thesis. The path along which the trajectory is defined can be point-to-point; namely, the machine is required to move between the two points but is not given any fixed intermediate path. This type of path is useful in manipulator pick-and-place operations. A path can also be completely specified through use of geometric functions. This type of path is commonly used in CNC machining applications or in manipulator applications when obstacles are present, or when it is necessary to ensure that the end effector follows a specific path. Herein it is assumed that the path definition is provided, and the problem of path planning is not specifically addressed. The control of the machine motion can be divided into two parts: motion planning and motion tracking. Motion planning involves generating the path and its time law, providing the controller's reference si!:,lljal. Motion tracking, on the other hand, is concerned with improving the tracking of the reference signal. Motion planning is often done off-line, typically when the trajectory generation algorithms are computationally intensive. However, it is often desirable to generate trajectories OIlline so that changes can easily be made to the machine's trajectory, increasing the system's overall robustness and adaptability. For example, a manipulator may require the ability to recompute its trajectory on-line in order to avoid an unexpected obstacle that lies along a path on which it is currently moving [2]. In an automated robot workcell, a high level scheduler feeds a series of tasks to a manipulator in terms of waypoints, approach points and stop points. TIle manipulator must execute the task by generating paths and trajectories to these points and then following these trajectories using a control law. Use of an on-line planner reduces manipulator setup time and downtime, since the time required to plan the trajectories is shorter.
19 3 In industrial applications, it is common to use simple PID control laws, which do not take into account the system's nonlinearities, to track a reference signal. To compensate for tracking errors introduced by the system's nonlinearities, a more complicated controller must be used [3,4,5]. Alternatively, it is possible to design a trajectory that takes the system's nonlinearities into account and thus provides a reference signal that can be more easily tracked by common industrial controllers [6,7]. 1.2 Industrial Motivation Increased productivity is an important industrial consideration. When a multiaxis machine limits the task speed, decreasing the machine's overall motion time will increase productivity [6, 3]. In addition, improving the tracking accuracy of the machine is always desirable since it results in more repeatable products or operations. Tracking a purely time-optimal trajectory with a simple controller will saturate the actuators resulting in poor tracking, vibrations in the machine and increased machine wear [8, 9, 10, 11, 12, 13]. Specialized controllers have been developed in order to provide better tracking of time-optimal trajectories. However, it is unlikely that they will be \videly implemented in industry due to their complicated form. Purely time optimal trajectories have been modified to take into account further limitations of the actuators, for example jerk or torque rate limits, thereby avoiding controller saturation and resulting in improved tracking accuracy [15, 7, 14]. Herein, trajectories that are planned with jerk or torque rate limitations are termed smooth trajectories. There exists a need for a smooth trajectory generation algorithm that can easily be intel:,rrated into existing industrial systems, that is, be implemented using a typical
20 4 industrial controller. Such an algorithm should be applicable on-line, provide adequate dynamic timitations, and allow the specification of the speeds at all the way-points. 1.3 Problem DefUlition There are four types of robot operation control included in this system which is joint interpolation, linear interpolation, circular interpolation and continuous path. a) Joint interpolation The robot moves with joint axis lmit interpolation to the designated position. The robot interpolates with ajoint axis unit, so the end path is irrelevant.. Robot movement Figure 1.1' Joint Interpolation
21 5 b) Linear interpolation For the linear interpolation type of control, the end-effector is programmed to move a sequence of discrete points in the workspace. In between points, no control required over either speed of the individual axes or the path of the end-effector. Fig.l.2 shows that the speeds is reduced and almost stop in front of the target position. After moving to the target position, the speed for moving to the next target position starts to be accelerated. Sia.rt paslhon af movemen II (Speed) f f77777a~1 rilu4. P2 P3 I (TIm!!) Figure: 1.2: Linear Interpolation c) Circular interpolation The robot moves along an arc designated with three points using three-dimensional circujar interpolation. Robot movement ~ Robot- mo... ment Moyement p05ftion PI! T\)f'~ output IIlMit.it I B Oil Figure Circular Interpolation
22 6 d) Continuous path In the continuous operating mode, the speed is reduced in front of the target position, but it does not stop completely. The speed for moving to the next target position starts to be accelerated at that point. Therefore, it does not pass through each target position, but it passes through the neighborhood position. v (Speed;' PI P2 PJ Contlnuau~ movemeljj P I -0-1>2 J'~ ~,ji l p3 SIll rt ~ osition of movetmet1t I (Tlmel The abo~o; g,apll snown an example OependU19 on ll1e moving distance and/or $Plled. "cceleratlon and (ieeel"" \Ion may occ ur dunng Interpotatlon connecllon Figure: 1.4: Continuous Movement The drawback of the existing operation control methods stated in previous section are does not preserving continuity in the first and second derivatives at the interpolation point. The first derivative represents continuity in the velocity and the second derivative represents continuity in the acceleration. Several trajectory planning methods can be used in order to provide a method of generating smooth and continuous path. In practical application, to plan a path for robot's end-effector to follow, a number of points along the desired path are given by means of a teach-box or a robot language command. The end-effector is then controlled to move through or pass by these points smoothly and continuously. How to control tile end-effector to move tllrougll tile desired patll smoothly and continuously?
23 7 To solve the stated problem, this project proposed an approach to constrain smoothness and continuity based on cubic spline trajectory planning algorithm. Cubic splines offer several advantages. First, it is the lowest degree polynomial function that preserving continuity in the first and second derivatives at the interpolation points. Second, low-degree polynomials reduce the effort of computations and the possibility of numerical instabilities. The feasibility of the method is illustrated by experimental results with an articulated robot (Mitsubishi RV-2AJ) located at KUITTHO's Automation Lab. 1.4 Research Objectives This project is divided into two parts. For Part I, the objective of this work is to familiarize with the Mitsubishi RV-2AJ robot operation and control. Instead of to familiarize with the robot operation and control, a further objective is to produce a set oflaboratory sheets as a reference material to the students or lecturers in future work. Furthermore is to learn MELFA robot programming languages, MOVE MASTER Command and MELFA-BASIV IV Command. For Part II, the objective is to write a user-defined trajectory planning routine based on cubic spline fitting function using MATLAB. At the end of this project, this work aims to produce a cubic spline trajectory that will generate smooth and continuous path.
24 CHAPTER II LITERATURE REVIEW 2.1 Introduction With a pressing need for increased productivity and the delivery of end products of uniform quality, industry is turning more and more toward computcrbased automation. At the present time, most automated manufacturing tasks are carried out by special-purpose machines designed to perfonn predeterrnined functions in a manufacturing process. The innexibility and generally high cost of these machines, often called hard automation systems, have led to a broad-based jnterest jn the use of robots capable of performing a variety of manufacturing functions in a more nexible working environment and at lower production costs. The word robot originated from the Czech word roho{(], meaning work. Webster's dictionary defines robot as "an automatic dc\'ice that performs functions ordinarily ascribed to human being." Vhth this definition, washing machines rnay h<.: considercd robots. A definition used by the Robot Institute of America gi\<.:s a flwr<.: precise description of industrial robots: "A robot is a rcprogrammable mull i-functional
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