Control robotic arm and sensor-based programmable logic judgment Import

• Main Authors: Chih-Ming Lin, 林志明
• Other Authors: Shyr-Shen Yu
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/75041137606066272502

碩士 === 國立中興大學 === 資訊科學與工程學系 === 104 === Industry 4.0 (Industry 4.0, Industrie 4.0), also known as the Fourth Industrial Revolution (Fourth industrial revolution), productivity 4.0, is a high-tech plan proposed by the German government, jointly by the Federal Ministry of Education and Research and the Federal Ministry of Economics and funding for upgrading of the manufacturing computerized, digitized, and wisdom. Unlike before the goal is not to create a new industrial technology, but all industry-related technology, marketing and product experience I system together is to create adaptive, resource efficiency, and ergonomics wisdom facility (Smart Factory) and the integration of customers and business partners in the business process and value stream. Its technology is based on a sense of wisdom integrated control system (Cyber-Physical System, CPS) and physical interconnection (Internet of Things, IoT). This architecture although still fumbling, but if you have to be true and the application will eventually be able to construct a conscious perception of the new wisdom of the industrial world, permeable to analyze big data generated directly meet customer related solutions (demand custom), but also the use of computer prediction portion native conditions, such as weather forecasting, public transport, market research data, etc., timely and accurate production scheduling or existing resources and reduce unnecessary costs and waste, etc. (supply-side optimization), note the industry is just a part of the wisdom of the world. Some say that the robot (Robot) is an important industry issue 4.0. If you control the German Industry Files 4.0 can be found in Germany in 1969 PLC (programmable controller) 3.0 as a starting point for industry, and import of industrial automation and robotics are considered an important move forward by 3.0 stage. But intelligent robot (Intelligent Robot) must be the industrial core of 4.0. Intelligent robot is in contrast to conventional robots, or less intelligent robots collectively. Industrial automation become more popular in the arm for the base model of the intelligent robot systems, more accurately and instantly operating fine, and complex mechanical arm movement; while Robot is a highly stable, accurate positioning, with a variety of modes and can iii provide a full range of motion model, intelligent robot systems. ROBOT biggest advantage is that it is a complete intelligent robot system, in addition to a six-axis robot body, additionally equipped with a controller, drive box ROBOT robotic arm with six degrees of freedom of the joints, using a DC motor servo control, the robot arm via the program guide to the user for action is seeking the position, and then reaches the set power and signal via Tigong drive box drive motor position, thereby enabling the arm to reach the user wants to coordinate, but the program issued a command position, and then the control arm reaches the target position. In this study, the final times of actual experiments to verify the validity of the thesis of the proposed multi-joint robot control design. Supplemented by data from previous cost, in order to verify this after the import PLC and robot control SENSOR, the comparative cost data before importing whether there is a significant decrease to prove after import automated mechanical arm improved.