engleski

PLC IMPLEMENTATION OF EVOLUTIONARY INVERSE KINEMATICS SOLVER FOR REDUNDANT KINEMATICS ROBOTS

Some fire fighting vehicles used at the airports and the refineries are equipped with robot arms manoeuvred by the vehicle operator. Together with other fire fighting apparatus on the vehicles, a robot arm is usually controlled by a programmable logic controller (PLC). In fire fighting applications, time is critical and from the vehicle operator's point of view, control of robot motion in the tool coordinate frame is preferable to the control in the robot joints frame. In this paper the design and implementation of a PLC-based genetic algorithm (GA) for solving an inverse kinematics problem for a five degrees-of-freedom (DOF) fire fighting robot with redundant kinematics is presented. The algorithm is verified with a Mitsubishi PLC FX2N16MR and the results are described.

Robotics; inverse kinematics; evolutionary algorithms; genetic algorithms; PLC

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