Programming and control of an industrial robotic system

Abstract

The importance of robotic systems in the automation of industrial units is well known. In this paper is described the logic programming and computer control system of a robotic manipulator (IBM Scara robot) utilized in specific palletizing and assembling tasks in a machines constructions company. At low level of communication control is achieved through AML assembly routines in conjunction with C programming modules, while at user interface Prolog predicates are used for interactive and comprehensive communication. The system incorporates visual data (through a grip camera) for specific objects identification and definition of their location. Effective machine vision processing algorithms intend to strengthen the reliability of system's control and operation in real-time. Although high-level control and task planning in robotics remain a particular difficult problem, this combined approach of low and high level control and image processing algorithms, seems to ease the operator's work and ensures higher quality of operation. After long-lasting tests and measurements of control system's implementation the outcomes and the production results achieved (e.g. reduced errors, time and cost), have reconfirmed its effectiveness compared to previous solutions