This Master of Science project concerns the design and development
of a flexible microprocessor-based controller for a Versatran
Industrial Robot. The software and hardware are designed in modules
to enhance the flexibility of the controller so that it can be used
as the control unit for other forms of workhandling equipment.
The hardware of the designed controller is based on the Texas
Instruments single board computer and interface printed circuit boards
although some specially designed interface hardware was required. The
software is developed in two major categories, which are "real-time"
modules and "operator communication" modules. The real-time modules
were for the control of the hydraulic servo-valves, pneumatic
actuators and interlock switches, whilst the operator communication
modules were used to assist the operator in programming "handling"
sequences". The main advantages of the controller in its present
form can be summarised thus:-
(i) The down-time between program changes is significantly
reduced;
(ii) There can be many more positions programmed in a "handling
sequence";
(iii)Greater control over axis dynamics can be achieved
The software and hardware structure adopted has sufficient flexibility
to allow many future enhancements to be provided. For example, as
part of a subsequent research project additional facilities are
being implemented as follows: a teach hand held pendant is being
installed to improve still further the ease with which "handling
sequences" can be programmed; improved control algorithms are being
implemented and these will facilitate contouring; communication
software is being included so that the controller can access via a
node a commercially available local area network
