, TECHNOLOGY. SAULT COLLEGE OF APPLIED ARTS SAULT STE. MARIE, ONTARIO COURSE OUTLINE COURSE OUTLINE: ROBOTIC & CONTROL SYSTEMS
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1 SAULT COLLEGE OF APPLIED ARTS, TECHNOLOGY SAULT STE. MARIE, ONTARIO COURSE OUTLINE COURSE OUTLINE: CODE NO.: ELN228-5 PROGRAM: ELECTRICAL/ELECTRONIC TECHNICIAN SEMESTER: FOUR DATE: JANUARY 1991 AUTHOR: ENO LUDAVICIUS NEW: REV. : x APPROVED: m[e@eow(f@ JAN Sj~UlT COlLEG~l!BRARY SAULTSTE.MARIE =
2 CALENDER DESCRIPTION COURSE NAME ELN228-5 COURSE NUMBER PHILOSOPHY/GOALS: THE STUDENT WILL BE INTRODUCED TO CLOSED-LOOP FEEDBACK SYSTEMS, INCLUDING ANALOG AND DIGITAL TRANSDUCERS, ERROR DETECTORS, SERVO AMPLIFIERS, ANALOG AND DIGITAL SYNCHRO AND RESOLVER SYSTEMS AS APPLIED TO SPEED CONTROL AND ROBOTICS, SUPPORTED BY RELATED LABWORK INCLUDING PROGRAMMING ROBOTS AND PROGRAMMABLE CONTROLLERS. METHOD OF ASSESSMENT (GRADING METHOD): THE STUDENT WILL BE ASSESSED IN THE FOLLOWING MANNER: l)three WRITTEN TESTS WORTH 29' EACH. 2)ASSIGNHENTS WITH INDUSTRIAL CONTROLS AND ROBOTS WORTH 49' IN TOTAL. TEXTBOOK(S): l)industrial ROBOTS AND ROBOTICS - E. KAFRISSEN - M. STEPHANS ~)IN-PROCESS CONTROL FOR MANUFACTURING CONFERENCE NOTES - IEEE 3)FEEDBACK AND CONTROL SYSTEMS - A.C. McDONALD - H. LOWE 4)DC,SYNCRO,& AC BASIC EXPERIMENTS - FEEDBACK
3 BLOCK 1 - INDUSTRIAL CONTROLS 1.1) CLASSICAL CONTROL THEORY.1) DESCRIBE WHAT CONTROL SYSTEMS ARE AND THE WAY WE USE THEM..2) DEFINE THE TERMINOLOGY NECESSARY TO DESCRIBE CONTROL SYSTEMS. (ie.plant, process, system, feedback,...) :3) DEFINE THE DIFFERENCE BETWEEN OPEN AND CLOSED LOOP CONTROL SYSTEMS..4) DISCUSS THE CONTROL SYSTEM CHARACTERISTICS. (ie.accuracy,stability,sensitivity,noise,cost).5) DISCUSS THE CONTROL STRATEGY STAGES FOR MANUFACTURING PROCESSING...6) ILLUSTRATE EXAMPLES OF CONTROL SYSTEMS. (ie.pressure,speed,numerica1,computer,...) 1.2) MATHEMATICAL MODELLING OF A CONTROL SYSTEM.1) DEFINE THE GENERAL EQUATION FOR A SIMPLE SERVO SYSTEM..2) DRAW THE GENERAL BLOCK DIAGRAM OF A SERVO SYSTEM..3) DISCUSS THE CONCEPTS OF GAIN,CASCADING BLOCKS, SUMMING JUNCTIONS AND BLOCK REDUCTION..4) DISCUSS CONTROL SYSTEM TRANSFER FUNCTION AND FIRST ORDER DIFFERENTIAL EQUATIONS..5) ILLUSTRATE EXAMPLES OF FIRST ORDER DIFF. CONTROL SYSTEMS: - MECHANICAL - ELECTRICAL 1.3) INDUSTRIAL SERVO CONTROL SYSTEMS.1) DISCUSS THE MEANING OF A FEEDBACK CONTROL SYSTEM..2) DISCUSS THE EVALUATION OF PERFORMANCE OF FEEDBACK SYSTEMS. (ie.error,setpoint,dynamic response,...).3) DRAW A BLOCK DIAGRAM OF A CLOSED-LOOP FEEDBACK SYSTEM WITH A ROBOT IN THE SYSTEM..4) DESCRIBESIMPLE SPEED CONTROL - PROPORTIONAL - P + INTEGRAL. - P + I + DERIVATIVE.5) DISCUSS A SERVOMOTOR CONTROL SYSTEM. ----
4 BLOCK 1 - INDUSTRIAL CONTROLS 1.4) THE ACTUATORS OF A INDUSTRIAL CONTROLS.1) DESCRIBE THE ADVANTAGES & DISADVANTAGES OF THE THREE TYPES OF ACTUATORS USED IN INDUSTRY..2) DESCRIBE THE FACTORS WHICH INFLUENCE THE CHOICE OF A AN ACTUATOR FOR GIVEN APPLICATION..3) DISCUSS ELECTRICAL ACTUATION - SOLENOIDS RELAYS AC SERVOHOTOR STEPPER MOTORS.4) DISCUSS HYDRAULIC ACTUATION - LINEAR ROTARY.5) DISCUSS PNEUMATIC ACTUATION - LINEAR ROTARY 1.5) INDUSTRIAL SENSORS & TRANSDUCERS.1) DEFINE THE MAJOR DIFFERENCE BETWEEN THE TERMS SENSOR AND TRANSDUCER..2) DESCRIBE THE CATEGORIZATION OF SENSORS: MECHANICAL - FLUID - THERMAL - OPTICAL.3) DISCUSS THE DIFFERENT TYPES OF MECHANICAL TRANSDUCERS: - DISPLACEMENT - STRAIN - MOTION.4) DISCUSS THE DIFFERENT TYPES OF FLUID TRANSDUCERS: - PRESSURE - FLOW.5) DISCUSS THE DIFFERENT TYPES OF TEMPERATURE TRANSDUCERS: - RTD - THERMOCOUPLES - THERMISTORS - IC SENSORS.6) DISCUSS THE DIFFERENT TYPES OF OPTICAL TRANSDUCERS: - OPTICAL ENCODERS - VISION SYSTEMS - CAMERAS LASER SCANNERS X-RAYS INFRARED CAMERAS 3D CAMERAS
5 BLOCK 1 - INDUSTRIAL CONTROLS 1.6) GENERALIZED DATA ACQUISITION AND CONVERSION SYSTEMS.1) DISCUSS THE DATA USED FOR ROBOTIC ACQUISITION AND TRANSDUCERS. CONVERSION SYSTEMS.2) DISCUSS THE METHODS CONVERSION. USED IN ANALOG-TO-DIGITAL ".3) DISCUSS THE METHODS CONVERSION. USED IN DIGITAL-TO-ANALOG.4) DISCUSS THE RS-232-C AND IEEE-488 BUS INTERFACE.
6 BLOCK 2 - INTRODUCTION TO INDUSTRIAL ROBOTICS 2.1) ROBOT TERMS & DEFINITIONS.1) DEFINE THE TERM "ROBOTICS".2) DISCUSS THE HISTORY OF ROBOTS.3) ROBOTIC TERMINOLOGY.4) VIDEO: THE ROBOT REVOLUTION.5) VIDEO: ROBOTS IN INDUSTRY.6) THE ROBOT SYSTEM & SUBSYSTEMS.7) VIDEO:ROBOT SUBSYSTEMS 2.2) ROBOT CLASSIFICATION.1) ROBOT ARM GEOMETRY CLASSIFICATION.2) ROBOT INTELLIGENCE CLASSIFICATION.3) POWER SOURCES CLASSIFICATION.4) APPLICATIONS CLASSIFICATION.5) CONTROL TECHNIQUE CLASSIFICATION.6) PATH CONTROL CLASSIFICATION RECTANGULAR CYLINDRICAL SPHERICAL LOW TECHNOLOGY MEDIUM TECH. HIGH TECH. 2.3) ROBOT HANDS:END-OF-ARM-TOOLING (END EFFECTORS).1) DESCRIBE THE TWO CATEGORIES HANDS : 1) INDUSTRIAL OF MECHANICAL 2) PROSTHETIC.2) DESCRIBE THE END-OF-ARM TOOLING CHARACTERISTICS & CLASSIFICATIONS..3) DESCRIBE THE TYPES OF END EFFECTORS CATEGORIZED AS GRIPPERS : 1) STANDARD 2) VACUUM 3) MAGNETIC 4) SPECIAL PURPOSE.4) DESCRIBETHE TYPES OF END EFFECTORSCATEGORIZED AS TOOLS: 1) WELDING 2) SPRAYING. 3) ROTATING SPINDLES 4) SPECIAL PURPOSE.5) DISCUSS MULTIPLE END EFFECTOR SYSTEMS..6) DISCUSS THE SELECTION AND DESIGN OF GRIPPERS..7) VIDEO: OPERATING PARAMETERS OF ROBOTS
7 n _. u_ ELN228-5 BLOCK 2 - INTRODUCTION TO INDUSTRIAL ROBOTICS 2.6) ROBOT PROGRAMMING.1) ROBOT LANGUAGE DEVELOPMENT.2) LANGUAGE CLASSIFICATION: JOINT CONTROL PRIMITIVE MOTION STRUCTURAL PROGRAMMING TASK-ORIENTED.3) SAMPLE PROGRAMS : TEACH PENDANT PROGRAM XYZ COORDINATE PROGRAM XYZ LEADTHROUGH PROGRAM RHINO BASIC PROGRAM ROBOTALK VAL 2.7) SAFETY.1) INTRODUCTION TO ISSAC ASIMOV LAWS OF ROBOTS.2) GENERAL PERSONNEL SAFETY.3) OPERATOR & MTCE. PERSONNEL SAFETY.4) OVERVIEW OF THE AMERICAN NATIONAL STANDARD FOR INDUSTRIAL ROBOTS & ROBOT SYSTEMS - SAFETY REQUIREMENTS 2.8) HUMAN INTERFACE.1) GENERAL TRAINING.2) OPERATOR TRAINING.3) MTCE. TRAINING.4) ORGANIZED LABOUR & RESISTANCE.5) VIDEO: HUMAN FACTORS IN ROBOTICS 2.9) TESTING OF INDUSTRIAL ROBOTS.1) TEST PROGRAM FOR INDUSTRIAL ROBOTS: GEOMETRICAL VALUES KINEMATIC VALUES DYNAMIC VALUES POWER AND NOISE VALUES THERMAL VALUES NON MEASURABLE TEST VALUES.2) METHODS OF MEASUREMENTFOR TESTING INDUSTRIAL ROBOTS: MEASURING HEADS FOR GEOMETRICAL MEASUREMENTS TEST STANDS FOR GEOMETRICAL MEASUREMENTS - MEASURING EQUIPMENT FOR NON-GEOMETRICAL VALUES - --
8 BLOCK 2 - INTRODUCTION TO INDUSTRIAL ROBOTICS 2.9) TESTING OF INDUSTRIAL ROBOTS.3) SUMMARY COMPARISON OF MEASURED RESULTS - CONCLUSIONS FROM TESTING OF ROBOTS
9 UI:.1'u.nAl.o J. l"uttma'j.' J. UN TIMETABLE QAX PLACE ACTIVITY TUESDAY 9:3"-1":3" E327 LECTURE ( ALL SECTIONS TUESDAY 1:3"- 3:3" Bl"4 LAB ( SECTION "3 WEDNESDAY 1:3"- 2:3" E237 LECTURE ( ALL SECTIONS - T.HURSDAY 8:3"-1":3" Bl"4 LAB ( SECTION "1 THURSDAY 1":3"-12:3" Bl"4 LAB ( SECTION "2 THURSDAY 1:3"- 2:3" E327 LECTURE ( ALL SECTIONS EVALUATION ACTIVITY DAY PLACE L TEST.1 FEB. 5/91 9:3"-1":3" E327 (BLOCK '1 MATERIAL) (TUESDAY) TEST 12 MAR. 19/91 9:3"-1":3" E327 (BLOCK.2 MATERIAL) (TUESDAY) TEST 13 APR. 16/91 9:3"-1":3" E327 (BLOCK '2 MATERIAL) (TUESDAY) 2" 2" 2" ASSIGNMENTTOPICS DUE DATE 1) FAMILIARIZATION WITH DC SERVO EQUIPMENT JAN.29/91 2) 3) 4 ) 5) 6) 7) 8)
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