Industrial Automation Applications

Model and Control Robot Dynamics to Automate Virtual Assembly Line

Extends the Smart4i virtual commissioning applications to accommodate robot dynamics in the system framework to automate assembly line operation. This example models and controls the dynamics of robots in the assembly line, which helps develop a more realistic simulation environment. The virtual assembly line consists of four components: two robotic workcells, connected by a shuttle track and a conveyor belt. The first robot, Robot 1, is a Comau Racer V3 and places cups onto the shuttle. The second robot, Robot 2, is a Mitsubishi RV-4F and places balls in the cups. The shuttle track system consists of four shuttles which continuously move to Robot 1, then to Robot 2, followed by a slider. A slider then delivers those cups containing balls to a container. For a detailed system overview, see Automate Virtual Assembly Line with Two Robotic Workcells.

Anti-Windup Control Using PID Controller Block

Use anti-windup schemes to prevent integration wind-up in PID controllers when the actuators are saturated. The PID Controller block in Simulink® features two built-in anti-windup methods, back-calculation and clamping, as well as a tracking mode to handle more complex industrial scenarios. The PID Controller block supports several features that allow it to handle controller windup issues under commonly encountered industrial scenarios.

Bumpless Control Transfer Between Manual and PID Control

Achieve bumpless control transfer when switching from manual control to proportional integral derivative (PID) control. The model uses the PID Controller block in Simulink® to control a first-order process with dead-time.

Two Degree-of-Freedom PID Control for Setpoint Tracking

Regulate the speed of an electric motor using two degree-of-freedom PID control with set-point weighting. This model uses the PID Controller (2DOF) block. The model changes the setpoint values between 60 and 30 rpm. To convert the units to rad/s for use in the PID controller, the model uses a Signal Conversion block.

Job Scheduling and Resource Estimation for a Manufacturing Plant

Model a manufacturing plant. The plant consists of an assembly line that processes jobs based on a pre-determined schedule. This example walks you through a workflow for:

(SimEvents)

Generate Automated ros_control Plugin for 3-D Shape Tracing Manipulator

Configure Simulink® model as a 3-D shape tracing controller, and generate and deploy C++ code for the ros_control package.

(Robotics System Toolbox)