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Introduction to Control Process and Robotics David Isai Robles González [email protected] May 18, 2012 Abstract The Process Control and Robotics involve a wide range of technologies and sciences which together have become an important area of scientific develop- ment. In industries, are used to improve production systems, reduce costs, increasing safety or improve quality control in their products. These systems de- pend largely on the input variables to manipulate the mechanisms within the system and obtain the desired output. 1 Introduction Process control is the automatic control of an out- put variable, comparing it to the desired output thus obtaining an error signal that is fed to the input of the system to reduce this error. In order to under- stand this in a better way, the control process could separated in differents control blocks. • Feedback loop • Controlled or measured variable • Manipulated variable • Set point • Instrument • Sensors • Transducers • Actuators • Controllers • Programmable logic controllers (PLC) Figure 1: Block Diagram The control loops can be very complex, some of the functions need to be very tightly controlled, with tight tolerance on the variables and a quick response time, while in other areas the tolerances and response times are not so critical. In industrial applications such as supply chains, we must take into consideration that the system response is not given automatically. May have a lag time which is the time required by the system to return the result to a set point change and so on. The Robotics is the set of mechanisms that per- form a specific task to manipulate external variables. Most have humanoid form, either the arm as shown in Figure 3 or the entire body. The robotic arms are used primarily in manufacturing processes that has 1
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Transcript of Articulo_1
Introduction to Control Process and Robotics
David Isai Robles Gonzá[email protected]
May 18, 2012
Abstract
The Process Control and Robotics involve a widerange of technologies and sciences which togetherhave become an important area of scientific develop-ment. In industries, are used to improve productionsystems, reduce costs, increasing safety or improvequality control in their products. These systems de-pend largely on the input variables to manipulate themechanisms within the system and obtain the desiredoutput.
1 Introduction
Process control is the automatic control of an out-put variable, comparing it to the desired output thusobtaining an error signal that is fed to the input ofthe system to reduce this error. In order to under-stand this in a better way, the control process couldseparated in differents control blocks.
• Feedback loop
• Controlled or measured variable
• Manipulated variable
• Set point
• Instrument
• Sensors
• Transducers
• Actuators
• Controllers
• Programmable logic controllers (PLC)
Figure 1: Block Diagram
The control loops can be very complex, some ofthe functions need to be very tightly controlled,with tight tolerance on the variables and a quickresponse time, while in other areas the tolerancesand response times are not so critical. In industrialapplications such as supply chains, we must takeinto consideration that the system response is notgiven automatically. May have a lag time which isthe time required by the system to return the resultto a set point change and so on.
The Robotics is the set of mechanisms that per-form a specific task to manipulate external variables.Most have humanoid form, either the arm as shownin Figure 3 or the entire body. The robotic arms areused primarily in manufacturing processes that has
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David I. Robles G. Control de Procesos y Robótica 2
the literal meaning of "making things by hand".
Figure 2: The ultimate PUMA 562 robot arm
The main components of the robotic mechanismsare:
• Mechanical structure (links and joints).
• Controlled or measured variable.
• Actuators.
• sensors.
• Control systems (servomechanisms).
• End effector (terminal element).
The purpose of join both topics, Control Processand Robotics, are the automation of the industries,that has shifted not only from increasing productiv-ity and reducing costs, inclusive to broader issues,such as increasing safety, quality and flexibility inthe manufacturing process.
Figure 3: Control Process and Robotics
2 DARPA projects.
In this section we show one of the applications underdevelopment by DARPA that is relative importantto the Control Process and Robotics. The project isEART (Energetically Autonomous Tactical Robot),the agency pretend to develop a robotic platform ca-pable of performing missions of long duration, whilecharging for foraging. The system seeks its own powersupply to ingest and extract energy from biomass inthe environment, and also get alternative energy con-vesional as fuel, kerosene, propane, coal, cooking oiland solar energy, when suitable. It has two importantconsiderations.
• The EATR will have a robotic arm and end ef-fector to manipulate materials.
• Autonomous intelligence will be provided by the4D/RCS system (three dimensions of space, onedimension of time, Real-time Control System),already under development.
3 Conclusions
So far, we find most robots working for people inindustries, factories, warehouses and laboratories.While they can not perform all the existing defects
May 18, 2012 Maestría en Ciencias Área Cibertrónica
David I. Robles G. Control de Procesos y Robótica 3
Figure 4: Energetically Autonomous Tactical Robot
are an indispensable tool so that it remains a rela-tively new topic that is being exploited by the re-search departments of most universities. There isonly deficion to the issues, because the technology forits evolutionary character, can not be classified in onedefinition, there will always be improvements. Bothissues widely because the two have similar mecha-nisms and systems, helping to integrate these into asingle efficient and high quality.
References[1] William C. Dunn (2005). ”Fundamentals of In-
dustrial Instrumentation and Process Control”,(1 ed). United States of America: McGraw-Hill.
[2] Defense Advanced Research Projects Agency.”http://www.darpa.mil”.
[3] Lewin A. R. W. Edwards (2005). ”Open SourceRobotics And Process Control Cookbook”, (1 ed).United States of America: Newnes.
[4] DARPA project list.”http://www.technovelgy.com”.
May 18, 2012 Maestría en Ciencias Área Cibertrónica
