Network based cooperative synchronization control of 3 articulated robotic arms using controller area network (can) bus for industry revolution 4.0
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Date
2019-06
Authors
Chan, Kam Wah
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Abstract
Industry 4.0 is a topic with a strong interdisciplinary character, and smart factories with higher efficiency gain and flexible fabrication to ensure competitiveness of industry. [1] Demand on multi-robot system increases as a result of its flexibility and ability on handling complex task. Distributed control algorithm is the nature of cooperative control which is extensively studied recently due to the increasing demand on higher capability robot in manufacturing. Besides, communication between machines to machines is important as promoted in Industry 4.0. This project presents a Network based Cooperative Synchronization Control of 3 Articulated Robotic Arms using Controller Area Network (CAN) Bus for Industry Revolution 4.0. In this project, three robotic arms will be commissioned to synchronize with each other to perform a cooperative task together. CAN bus will be used as a means of communication between the 3 robotic arms due to its ease of installation and future expansion. The CAN bus is used to enable communication between robotic arms and a controller unit to give command to robot arms. This time, an intelligent cooperative phase lead controller is to be designed, developed and implemented to guarantee smooth synchronising motions of robot arms. Frequency response approach is used for system identification and phase lead controller is designed from the transfer function obtained. The CAN bus network is designed so that slave robot get cooperative consensus error from each other as input signal. The distributed cooperative control robot system is successfully developed. The slave robots tracks the master robot successfully.