Control and Operation of 4 DOF Industrial Pick and Place Robot Using HMI
01 Jan 2016-pp 787-798
TL;DR: This paper intends to present the controlling of an industrial pick and place robot using HMI, a automatic system that supervises continuously as a result of which faults can be monitored and acknowledged to the user.
Abstract: Human–machine interface commonly known as HMI is deployed for control and visualization interface between a human and a process, machine, application and appliance. It is a graphics-based visualization of an industrial control and monitoring system. In this paper we intend to present the controlling of an industrial pick and place robot using HMI. Implementation of logic is done for pick and place robot in HMI and design a GUI for controlling and monitoring the working of the robot. The robot is interfaced with PLC and the PLC in turn is interfaced with the HMI. The HMI can be used to control the robot by giving control signals from the HMI panel and also it simultaneously receives the signals from the system to show the status of the robot operation. The HMI panels shows which arm of the robot is active during the operation. Advantage of this HMI controlled system is that the system is automatic and supervises continuously as a result of which faults can be monitored and acknowledged to the user.
Citations
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Dissertation•
01 Aug 2019
TL;DR: The main purpose of this paper is to implement the hardware components for the controlling DC motor process and to interface between master station and control unit for controlling the data.
Abstract: Kelulut honey is a unique Malaysian food that has beneficial components and high potential in many health aspects. In commercial processing plant, honey is usually subjected to thermal treatment, where its quality is compromised due to unstable and thermolabile components. Therefore, double boiling was chosen as it does not exert significant heat, thus minimizes damage done. The quality was determined after treated by double boiling technique at optimized condition. Three different sources of Kelulut honey based on the main types of foods consumed by the bees (Coconut, Multifloral and Wild Flowers) were tested. Kelulut honey samples were subjected to an optimized condition at 60 °C for 35 minutes. Thermal treatment at the same condition was conducted for comparison purpose. The results showed that double boiling treatment increased the total phenolic content of Kelulut-C honey significantly, from 2430.78 ± 12.24 to 2711.10 ± 23.00 mg GAE/100 g. The treatment also significantly increased the brown pigment for both Kelulut-C and Kelulut-W honey by 11.11 ± 0.00% and 27.27 ± 0.00%, respectively. Whereas, the pH and moisture content of all samples remain unchanged with no formation of hydroxymethylfurfural (HMF) was observed. A preliminary four-week storage study showed that double boiling treatment improves physicochemical properties of Kelulut honey as compared to the untreated samples for all three types of Kelulut honey tested. Meanwhile, a room temperature (27 °C) condition leads to an improvement of antioxidant properties as compared to cold temperature (4 °C). In conclusion, double boiling treatment has established itself as a good alternative processing method for Kelulut honey, hence increasing the possibility to bring forward Kelulut honey as a unique source for the application in food and beverages industries.
4 citations
References
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TL;DR: This paper provides an overview of the design, development, and integration of the AIDE system in three prototype vehicles, together with the evaluation results of the trials.
Abstract: The Adaptive Integrated Driver-vehicle interfacE (AIDE) is an integrated project funded by the European Commission in the Sixth Framework Programme. The project, which involves 31 partners from the European automotive industry and academia, deals with behavioral and technical issues related to automotive human-machine interface (HMI) design, with a particular focus on integration and adaptation. The project involves tightly integrated empirical research, driver-behavior modeling, and methodological and technological development. This paper provides an overview of the AIDE Sub-Project 3 results dealing with the design, development, and integration of the AIDE system in three prototype vehicles, together with the evaluation results of the trials.
63 citations
19 Jun 2013
TL;DR: In this article, a complete closed-form solution to the inverse kinematics problem for a 4-DOF manipulator robot is proposed, with the discussion of the existence of the offset and the distance between the axis of 1st joint and 2nd joint, all possible solutions and singular configurations are presented.
Abstract: A complete closed-form solution to the inverse kinematics problem for a 4-DOF manipulator robot is proposed. With the discussion of the existence of the offset and the distance between the axis of 1st joint and 2nd joint, all the possible solutions and singular configurations are presented. “Task attitude” is defined to describe the orientation of the end effector, which is convenient to solve the inverse kinematics problems in engineering. Finally, simulation of path-planning is performed, and the efficiency of the proposed method is verified through Mathematica.
10 citations
27 Aug 2012
TL;DR: In this paper, an effective vision-based kinematic calibration method which calibrates 3 translational DOFs and 1 rotational DOF of a pick-and-place robot was proposed.
Abstract: Pick-and-place robot is usually a 4 degrees-of-freedom (DOFs) apparatus and indispensable in flip chip bonder. Placement accuracy is the most important index to evaluate it. To improve placement accuracy, machine vision is generally utilized to provide the exact pose parameters of chip and pad, which two must be aligned with each other before placement. This paper proposes an effective vision-based kinematic calibration method which calibrates 3 translational DOFs and 1 rotational DOF of pick-and-place robot, respectively. For the 3 translational DOFs, a down-look vision system takes an image and obtains position of a fixed reference cross mark when it moves with pick-and-place robot and the relationship between displacement of pick-and-place robot and position parameters of the cross mark in down-look vision system is the key factor to calibrate it. For the rotational DOF, error parameters of it can be derived after the projective curve of its trajectory in the image plane of up-look vision system is fitted with an ellipse. Placement accuracy is improved to better than ±30μm in the experiment after kinematic calibration. Result shows this vision-based kinematic calibration method is valid and very suitable for 4-DOF pick-and-place robot in flip chip bonder.
6 citations
20 May 2014
TL;DR: The system described in this paper consists of a human machine interface (HMI) which will monitor various physical activities that occur at Smart Grid which is using GSM as communication media that has the benefits of being simple in its scheme which supports to the complete low cost.
Abstract: Smart Grid is a progressively important function in the electricity delivery system. Smart grid is requiring increasingly refined communication media. The system described in this paper consists of a human machine interface (HMI) which will monitor various physical activities that occur at Smart Grid. The HMI is designed using SCADA package software. The proposed system is using GSM as communication media that has the benefits of being simple in its scheme which supports to the complete low cost. The originality of the work lies in the low cost method. The proposed system is capable of transferring and receiving signals with the additional advantages of response tool.
5 citations
Dissertation•
01 Aug 2019
TL;DR: The main purpose of this paper is to implement the hardware components for the controlling DC motor process and to interface between master station and control unit for controlling the data.
Abstract: Kelulut honey is a unique Malaysian food that has beneficial components and high potential in many health aspects. In commercial processing plant, honey is usually subjected to thermal treatment, where its quality is compromised due to unstable and thermolabile components. Therefore, double boiling was chosen as it does not exert significant heat, thus minimizes damage done. The quality was determined after treated by double boiling technique at optimized condition. Three different sources of Kelulut honey based on the main types of foods consumed by the bees (Coconut, Multifloral and Wild Flowers) were tested. Kelulut honey samples were subjected to an optimized condition at 60 °C for 35 minutes. Thermal treatment at the same condition was conducted for comparison purpose. The results showed that double boiling treatment increased the total phenolic content of Kelulut-C honey significantly, from 2430.78 ± 12.24 to 2711.10 ± 23.00 mg GAE/100 g. The treatment also significantly increased the brown pigment for both Kelulut-C and Kelulut-W honey by 11.11 ± 0.00% and 27.27 ± 0.00%, respectively. Whereas, the pH and moisture content of all samples remain unchanged with no formation of hydroxymethylfurfural (HMF) was observed. A preliminary four-week storage study showed that double boiling treatment improves physicochemical properties of Kelulut honey as compared to the untreated samples for all three types of Kelulut honey tested. Meanwhile, a room temperature (27 °C) condition leads to an improvement of antioxidant properties as compared to cold temperature (4 °C). In conclusion, double boiling treatment has established itself as a good alternative processing method for Kelulut honey, hence increasing the possibility to bring forward Kelulut honey as a unique source for the application in food and beverages industries.
4 citations