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Overview

In the Robotics and Automation Lab there are two standout pieces of hardware, our PLC rigs, and Mover6 robots. Each of which allows us to explore how we design, test and build autonomous and automated systems that are used in modem manufacturing. These systems provide a close parallel to industrially standard hardware, giving our students the chance to explore the technology that they'll use every day in industry.

Who uses this lab?

• Automatic Control & Systems Engineering

What equipment is in this lab?

• 24 x PLC control cabinets
• 30 x Bytronic control rigs
• 30 x Mover6 robot arms
• 49 hi spec PC

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Mover6 robot

We use the Mover6 robot to explore the design and control of standard manipulators. The manipulator itself is a desktop robot with 6 degrees-of-freedom that allows us to explore a complex workspace. The laboratory sessions that take place using the manipulator involve conducting mathematical modelling so that we can understand its behaviour, and the complex relationship of the joints. This tells us the forward kinematics; how the position of the end-effector is changed by moving the joints. Obviously, this isn't how we often control a manipulator; if we know the position of an object on the table, we wish to set the joint angles so that the end-effector is placed correctly. This is the inverse kinematics, and requires the students to understand a very different skillset using optimisation of numerical solutions to find the joint values. This leads to a redundancy, as there are multiple sets of joint values that provide the same end-effector position. This leads to an interesting question, which should we choose, and why?

Students then use the Mover6 to understand the basic process for programming a manipulator. This relies on understanding the different frames or coordinate systems that the manipulator works in. Whilst the tasks that we set are simple, they are very representative of those given to manipulator operators in industry. It's much safer to work with Children's soft blocks than expensive components in manufacturing!

The students finish up by writing a complete cartesian controller for the Mover6, using the inverse kinematic model developed, they produce a joint controller in the Robot Operating System. This is capable of setting each joint of the arm to the values specified by the inverse kinematic model, and so allowing them to specify arbitrary positions and poses in the world, and driving the manipulator to that position. This requires them to take a systems-based approached, as the solution is built up of multiple different interacting components, from Matlab (used for the inverse kinematics), to several elements within the Robot Operating System (low level interfacing, joint velocity control, joint position feedback).

These robots are used to teach the fundamentals of manipulator control and programming with a close link to the real robots used in industry.

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PLC cabinet and Bytronic Kit

Industrial automation has become an important feature today, especially in this age of rapid production and high precision. The knowledge and skill in this area has therefore become increasingly necessary.

This lab gives the students the opportunity to interact directly with devices such as industry standard sensors and actuators through Human Machine Interfaces (HMIs) and PCs; gather, process and monitor data locally or at remote locations; configure the cutting edge Siemens S7-1500 Programmable logic controllers (PLCs) series and program the latest version of Siemens Totally Integrated Automation software which is used in industry. The students will have the opportunity to learn advanced controllers and their applications in industry. This shows the students the relevance of teaching material to the real world systems that are currently used in industry, which will ultimately enhance their employability.