Petri Net Controller Design For Robotic Pick And Place System

Vengadeson, Mathialagan (2016) Petri Net Controller Design For Robotic Pick And Place System. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text Petri Net Controller Design For Robotic Pick And Place System - Mathialagan Vengadeson - 24 Pages.pdf - Submitted Version Download (283kB)

Abstract

Design methods for sequence controllers are given priority in advancing industrial automation. The expanding unpredictability and fluctuating needs of modern discrete manufacturing system have tested the design methods such as the use of ladder logic diagrams (LLD’s) for programmable logic controllers. Traditionally, LLD has lack flexibility, extremely complex to understand the diagram and less adaptability to the current changes. Even for the real time purpose, if there is any problem occurs in the system, it is hard to detect the cause of the problem via LLD. The analysis which has been made shows that robotic controllers have received high attention by academic researchers and industrial engineers in order to design flexible, reusable, and maintainable control software for robotic system. To be more specific, Petri net (PN) are becoming as a very important tool to produce an integrated solution for modelling, analysis, simulation, and control of robotic system. Petri Net is a collection of directed arcs connecting places and transitions. Places may hold tokens. This project identifies the basic operation of the pick and place robotic system, analyse PN simulation for logic control system, model pick and place robotic system using Boolean function and design controller for pick and place robotic system by using PN. The comparison between the LLD and PN made to show the difference in operation and behaviour. The LLD controller which is using currently unable to control the sequence alone, it requires KUKA programming language in order to control the sequence efficiently. The KUKA program for pick and place operation is designed. The control goal is to enforce a set of linear constraints on the marking behaviour or state of the Petri net. The result includes a design and techniques used to satisfy the controller properties such as liveness, reachability, reversibility, safeness and boundedness. The results that presented in this paper will help a) further implementation of PN based controllers for other machines and robots in industries, and b) convince researchers, industrial engineers and robot manufacturers that PN is an effective and worthy controller which is applicable in their industries.

Actions (login required)

View Item