The basic points, logic, and control programming were near completion before arriving for on-site commissioning. The PLC then receives back boolean data as well as integer statuses, alarms, and other data. The robots can also be commanded to move to specific positions from the HMI panel, such as a maintenance position and a safe position. We then instructed the robots to perform operations with simple Boolean commands.
#ABB ROBOTSTUDIO CONTROLLED BY MATLAB SOFTWARE#
The MATLAB/Simulink software package free the designers from low- level hardware and software issues, giving a good chance to educational purposes.DMC first integrated with the Allen Bradley PLC using Anybus protocol to communicate digital and analog signals for the operation. The prototyping platform simplify and enhance the design proccess.
Conclusions The experience of the design of the behavior-based navigation confirms the potential of fuzzy-logic, overcoming inherent limitations of low-cost hardware.Experiments Box canyon in the straight way is avoided It takes 80 seconds (times and behavior coloured traced).Experiments 1.2 x 1.2 m arena White obstacles are undetectable to the camera Red spot is the target.Fuzzy supervision Determines priority of execution for the behaviors Labels for fuzzy sets: Exp_Ind often seldom Max_prox close far.Behaviors: Explore the enviroment Arena is divided into a matrix of 25 mm x 25 mm each grid Each visit to a grid, their value is increased in one Inputs from image processing to FLC3 Inputs for delta (north, south, east, west): more explored less explored.Behaviors: Avoid obstacles IR Khepera sensors are labeled from S0 to S7 Labels for fuzzy sets: far approaching close colliding.Behaviors: Reach the target Output: speed commands for wheels: negative fast negative slow zero positive slow positive fast.Behaviors: Reach the target Image information is passed to FLC1 in dSpace board every 200ms Robot turns to face the target and moves straight Distance to target (DIR) and aligment (DIR) is processed by the vision system (PC) and passed to FLC1 Labels for fuzzy sets: DIST zero near far DIR left center-left center center-right right.Behaviors: Reach the target Provides information about position between robot and target Dont care about obstacles Khepera is marked with two colored markers, target with a red spot.Fuzzy decision and control algorithm design.Fuzzy decision and control algorithm design Obstacles, dynamics and statics, position unknown Target position unknown Navigation implemets reactive algorithm to get the target and avoid obstacles using only sensory information Three simple behaviors: Reach the target Artificial vision Primary task Avoid obstacles Infrared Highest priority Explore the enviroment Spatial local memory Avoid visiting already visiting regions Modular arquitecture allows faster debugging and tunning and to easily add new behaviors.Platform architecture Topview Webcam: USB interface Images from Webcam are processed directly into MATLAB using color detection codes 1.2 x 1.2 m arena is entirely viewed by the Webcam.
#ABB ROBOTSTUDIO CONTROLLED BY MATLAB SERIAL#
Platform architecture Mobile robot: Khepera (slave) 2 wheels 8 (noisy) infrared RS232 serial link (interactive control) Flash memory dSPACE: Microcontroller board working as interface between PC and robot (RS232) Fully programable in a MATLAB enviroment Real time communication between board and MATLAB routines running on the PC A terminal (master) 8 bit ASCII based comunication with Khepera Comunication Command from terminal to Khepera Response from Khepera to terminal.