Introduction to Control Process and Robotics

David Isai Robles Gonzlez

david.robles@lasallistas.org.mx

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 scientic development. In industries, are used to improve production systems, reduce costs, increasing safety or improve quality control in their products. These systems depend largely on the input variables to manipulate the mechanisms within the system and obtain the desired output.

Controllers Programmable logic controllers (PLC)

Introduction

Process control is the automatic control of an output variable, comparing it to the desired output thus Figure 1: Block Diagram obtaining an error signal that is fed to the input of the system to reduce this error. In order to understand this in a better way, the control process could The control loops can be very complex, some of separated in dierents control blocks. the functions need to be very tightly controlled, with tight tolerance on the variables and a quick Feedback loop response time, while in other areas the tolerances and response times are not so critical. In industrial Controlled or measured variable applications such as supply chains, we must take into consideration that the system response is not Manipulated variable given automatically. May have a lag time which is Set point the time required by the system to return the result to a set point change and so on. Instrument Sensors Transducers Actuators 1 The Robotics is the set of mechanisms that perform a specic 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

David I. Robles G.

Control de Procesos y Robtica

the literal meaning of "making things by hand".

Figure 3: Control Process and Robotics

DARPA projects.

Figure 2: The ultimate PUMA 562 robot arm

The main components of the robotic mechanisms are: Mechanical structure (links and joints). Controlled or measured variable. Actuators. sensors. Control systems (servomechanisms). End eector (terminal element).

In this section we show one of the applications under development by DARPA that is relative important to the Control Process and Robotics. The project is EART (Energetically Autonomous Tactical Robot), the agency pretend to develop a robotic platform capable of performing missions of long duration, while charging for foraging. The system seeks its own power supply to ingest and extract energy from biomass in the environment, and also get alternative energy convesional as fuel, kerosene, propane, coal, cooking oil and solar energy, when suitable. It has two important considerations. The EATR will have a robotic arm and end effector to manipulate materials. Autonomous intelligence will be provided by the 4D/RCS system (three dimensions of space, one dimension of time, Real-time Control System), already under development.

The purpose of join both topics, Control Process and Robotics, are the automation of the industries, 3 Conclusions that has shifted not only from increasing productivity and reducing costs, inclusive to broader issues, So far, we nd most robots working for people in such as increasing safety, quality and exibility in industries, factories, warehouses and laboratories. the manufacturing process. While they can not perform all the existing defects May 18, 2012 Maestra en Ciencias rea Cibertrnica

David I. Robles G.

Control de Procesos y Robtica

Figure 4: Energetically Autonomous Tactical Robot

are an indispensable tool so that it remains a relatively new topic that is being exploited by the research departments of most universities. There is only decion to the issues, because the technology for its evolutionary character, can not be classied in one denition, there will always be improvements. Both issues widely because the two have similar mechanisms and systems, helping to integrate these into a single ecient and high quality.

References
[1] William C. Dunn (2005). Fundamentals of Industrial 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 Source Robotics And Process Control Cookbook, (1 ed). United States of America: Newnes. [4] DARPA project http://www.technovelgy.com. list.

May 18, 2012

Maestra en Ciencias rea Cibertrnica