A project report submitted to the Faculty of Engineering, in partial fulfilment of the requirements for the degree of Master of Science in Engineering, University of the Witwatersrand. Johannesburg 1990. / Robotics are becoming a more prominent force in the
industrial environment, and research is being concentrated
on control rather than on the robot. The feasibility of a
substitute, off-line, plc based control system was
investigated. Many advantages are associated with an
off-line system, as well as the large financial saving (at
the most 50% that of the existing controller) .
A PLC with discrete 1/0 modules and a fast counting module
were used. Open loop control was looked at, with optical
encoders used for position control. Overshoot of the DC
motors consistently occurred, and other external factors
ensured the unpredictability and instability of open loop
control.
It was concluded that closed loop control was necessary to
ensure accurate positioning and speed control. PLC modules
Were investigated, and an axis control system (not yet
commercially available) was found to ideally suit the
purpose of servo/encoder control. This system makes use of
speed and position feedback signals, essential for accurate
terminal Control of the robot. / MT2017
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:wits/oai:wiredspace.wits.ac.za:10539/21777 |
| Date | January 1990 |
| Creators | Bryson, Craig Weir |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | Online resource (193 leaves), application/pdf |
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