PID control of a scara robot by using programmable logic controller

ABSTRACT MASTER THESIS PID CONTROL OF A SCARA ROBOT BY USING PROGRAMMABLE LOGIC CONTROLLER Servet Soygüder,, Fırat University Graduate School of Natural and Applied Sciences Department of Mechanical Engineering 2004, Page: 86 Today Programmable Logic Controllers (PLC) are widely used in industrial systems' automation. PLC is a kind of computer that has many inputs and outputs. It controls the devices that are attached to the its outputs by depending on the inputs and an internal before program. Control systems which required a lot of electrical control circuit devices are implemented just by writing a program. PLC decreases not only cost but also increases the flexibility of the system. Industrial robots are perceptive machines that can be programmed to perform a variety of tasks such as spraying, pick and place, cutting, drilling, inspection, etc. The performance of a robotic system depends on the selection of most appropriate manipulator configuration for the specific task and the definition of its motions. In this study, an industrial robot is implemented for multi functional usage. According to the suitable end- effector selected, the robot can be used forsewing, metal or wood cut operations in furniture industry, for printing names on boards, for painting works in advertisement industry, for moving a part, material or tool from one place to another called pick and place operation. This study also presents PLC control of the robot which was designed and implemented for the purposes in both education and industry. This study has two sections. The first sections is the implementation of robot and the second is its control with PLC. PLC provides robot to move materials in pre-defined trajectories. An electromagnet is used as an end-effector. In this study, also the implementation of the DC motor speed control with PLC instructions is studied. Keywords: PLC, PID Control, Robot Control, Speed Control II