Modelling, Control Design and Inclusion of Articulated Robots in Cyber-Physical Factories

This paper addresses the features and limits of the principles and means that provide and support the design of motion control for industrial stationary articulated robots and their involvement in cyber-physical factories as part of the Industry 4.0 concept. The proposed methods are presented herein, from the modelling of kinematics and dynamics considering ideal rigid bodies and principles of classical mechanics, to their application in the design of conventional cascade control and advanced model-based control and use within commercial software tools. The paper demonstrates the modelling principles adapted for control design where a specific novel hierarchical control configuration is outlined. There is an introduction of possible software tools such as Simscape, Robotics Systems Toolbox, RT Toolbox, CIROS and others. It includes the specific aim of the rapid prototyping of robot motion control, which is intended for user development and tuning. In conjunction with conveyor belts, robots-manipulators are essential for cyber-physical factories built on the concept of Industry 4.0. The concept of Industry 4.0 is discussed in respect to the proposed algorithms and software means.