The world of robotics is becoming increasingly prevalent in many realities, and with them, there is an increasing need for software engineers and specialized personnel. There are various environments and branches in the world of robotics and we will deal with one problem in this thesis: Pick & Place. Pick & Place consists in thinking and designing how robots can move objects from point A to point B, respecting predetermined constraints such as the order of the sequence, position of the objects, etc... In my thesis, I will present the project developed in PFM, the company that provided the tools for development: A software system for managing Rockwell robots performing Pick & Place operations. The thesis is divided into three parts: 1. Dialogue with the company to understand how to approach the case study (belt + counter-belt with several robots moving objects from the first to the second belt) 2. Development of a simulator on MatLab to analyse the performance of different pick logics 3. Transfer in PLC environment through LD (Ladder Diagram) and ST (Structured Text) languages in Studio5000 environment
Il mondo dell’industria robotica è sempre più diffuso in molte realtà e, con loro, c’è sempre più necessità di software engineers e personale specializzato. Ci sono vari ambienti e rami nel mondo della robotica e, in particolare, noi tratteremo di un problema in questa tesi: il Pick & Place. Il Pick & Place coinsiste nel pensare e progettare a come dei robot possano spostare degli oggetti da un punto A ad un punto B, rispettando dei vincoli predeterminati come l’ordine della sequenza, posizione degli oggetti ecc.. Nella mia tesi presenterò il progetto sviluppato presso PFM, azienda che ha fornito gli strumenti per lo sviluppo: Un sistema software di gestione di robot Rockwell che effettuano operazioni di Pick & Place Il progetto è stato sviluppato e testato nel periodo di stage (7/8 mesi) in diverse fasi. La tesi è divisa in 3 parti: 1. Dialogo con l’azienda per capire come approcciarsi al caso di studio (nastro + contronastro con più robot che spostano oggetti dal primo al secondo nastro) 2. Sviluppo di un simulatore su MatLab per analizzare le prestazioni di diverse logiche di presa 3. Passaggio della logica in ambiente PLC attraverso i linguaggi LD (Ladder Diagram) e ST (Structured Text) in ambiente Studio5000
Sviluppo e Gestione di un Sistema di Robot Pick & Place Industriali
BURTINI, MARCO GIORGIO
2021/2022
Abstract
The world of robotics is becoming increasingly prevalent in many realities, and with them, there is an increasing need for software engineers and specialized personnel. There are various environments and branches in the world of robotics and we will deal with one problem in this thesis: Pick & Place. Pick & Place consists in thinking and designing how robots can move objects from point A to point B, respecting predetermined constraints such as the order of the sequence, position of the objects, etc... In my thesis, I will present the project developed in PFM, the company that provided the tools for development: A software system for managing Rockwell robots performing Pick & Place operations. The thesis is divided into three parts: 1. Dialogue with the company to understand how to approach the case study (belt + counter-belt with several robots moving objects from the first to the second belt) 2. Development of a simulator on MatLab to analyse the performance of different pick logics 3. Transfer in PLC environment through LD (Ladder Diagram) and ST (Structured Text) languages in Studio5000 environmentFile | Dimensione | Formato | |
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Master Thesis Marco Giorgio Burtini.pdf
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https://hdl.handle.net/20.500.12608/39689