An approach of dependable logic controller for pick and place robotic system in computer integrated manufacturing system

Nurrafidah, Mohammad Rashid (2014) An approach of dependable logic controller for pick and place robotic system in computer integrated manufacturing system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The increase in demand of safety-critical systems in manufacturing process has led to the increase in its complexity. Verification process need to be done to ensure the correctness of the controller designed. A necessary procedure should be carried out to ensure that the designed system is dependable during the entire operation. In this report, a robotic pick and place system is used as an application in designing a dependable logic controller. Before designing the controller, procedure such as determining the logical behaviour and its definition of states must be achieved for the pre-post conditions to be valid. After the pre-post condition is defined, the Boolean mathematical model is generated in terms of input and output relationship from the pre-post condition. Then the next stage is to design the dependable logic controller by using PLC ladder diagram approach. The dependability aspects described in this report is focused on the safety properties of the logic controller. The designed controller is verified with a model checking tool which is Symbolic Model Verifier (SMV) software. The function of the model checking tool is to verify the correctness of the mathematical model and whether the designed logic controller meets the specification written. The specifications or properties are referred to various studies done on Computational Tree Logic, CTL specifications. The result of the SMV software is either TRUE or FALSE. If the result is TRUE, it means that the system meets the specification written. If the result is FALSE, means that the system is not behaving as what it was specify and a counterexample is generated. Counterexample shows the path or state that violates the specification for the user to identify in the model of the whole system. As a conclusion, the system verified satisfies all the properties and the designed controller is dependable.

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