INTEGRATION OF ROBOTIC AND ELECTRO-PNEUMATIC SYSTEMS USING ADVANCED CONTROL AND COMMUNICATION SCHEMES

Modern industrial automation systems are designed by interconnecting various subsystems which work together to perform a process. The thesis project aims to integrate fragmented subsystems into a flexible and reconfigurable system through advanced communication protocols and perform a process to demonstrate the effectiveness of interconnected systems. The system consists of three six-axis robots, one electro-pneumatic robot, and two conveyors connected using EthernetIP communication and hardwired connections. The interconnected system works together to perform machining of a workpiece using advanced control methods of CAD to robot path generation, central control through a PLC, and process control through HMI. Standardized programming blocks and HMI interfaces were developed to make the system highly reconfigurable and flexible for any future projects. The knowledge gained from the project is used to create lab manuals to educate students about communication and control methods for systems integration