We have developed a software suite for creating control algorithms in block diagram form in Simulink, generating real-time code using Real-Time Workshop, and running them in real-time under QNX to control a PUMA manipulator with the Servo To Go board.
The robot above is a surplus PUMA 760 retrofitted with a set of control cards
that resulted from Prof. Voyles' research. Prof. Voyles' company,
Mark V Automation Corp, supplied the boards and software, Prof. Voyles
set up the initial application, and Olin employees built the fixtures and
programmed the movements.
The picture below is a close-up of the robot inserting four square bars into
the welding fixture.
The robot has been a great success for Olin Wrought Iron. It requires
very little attention (only the feeder needs loading twice per day),
has very high yield, and frees up skilled welders from a boring, repetitive,
low-skilled task. This project is a perfect
example of how University expertise can impact the local community. Research
hardware and software was applied to a real-world application, via University
expertise, to economically build an automated system to keep a local employer
competitive in the world marketplace.
Robotic Applications
Olin Wrought Iron is a local wrought iron shop that primarily makes standard
component parts for other craftpeople to construct custom decorative railings
and gates.
These components are exported all across the country and the world and, as a
result, Olin Wrought Iron must compete with other international suppliers
from countries with very low labor costs. Prof. Voyles worked with Olin
Wrought Iron to develop this robotic welding application to perform
high-volume welds with very low capital and recurring costs.
Prof. Voyles' Home Page