Application and Control of Robotic Manipulator through PLC

Abstract: This thesis analyses the background of the kinematics and control of an articulated robotic arm in order to control it’s motor controllers with a custom controller using PLC programming. The goal was to create a MATLAB simulation of a manipulator and then establish a working configuration. This would then later be used by the division of Signals and Systems at LTU to educate students in PLC programming for autonomous setups with the robotic manipulator. The thesis was successful following the schedule established at the beginning and most of the objectives were accomplished. The results were a functioning control framework of Siemens PLC that could control the manipulators motor controllers to preform pickand place tasks in conjunction with a conveyor belt.