The aim of this thesis is the development of a communication system between a PC and the collaborative robot FANUC CRX-10iA/L, designed to enable remote control of the manipulator through standard industrial protocols and intuitive command interfaces. The work was carried out during an internship at the company I-Labs Industry s.c.a.r.l. in Jesi, within a context focused on research and development of automation and artificial intelligence solutions. The activity involved an in-depth analysis of the network architecture of the FANUC R-30iB Mini Plus controller and the implementation of a bidirectional connection between the PC and the robot via the Modbus TCP/IP protocol, used for the exchange of numerical data, internal variables, and digital signals. Subsequently, to overcome the limitations of Modbus in dynamic motion control, the Remote Motion Interface (RMI) protocol was integrated. This interface allows real-time command transmission through a TCP/IP connection and JSON-formatted messages. Through RMI, it was possible to directly manage the robot’s kinematics, monitor the controller status, and issue motion instructions without relying on dedicated TP programs. On top of this communication infrastructure, a voice interface was developed based on speech recognition and speech synthesis, enabling the robot to be controlled through natural language commands. The entire project was implemented in Python, using modules specifically designed for Modbus and RMI communication.
La presente tesi ha come obiettivo lo sviluppo di un sistema di comunicazione tra PC e robot collaborativo FANUC CRX-10iA/L, finalizzato al controllo remoto del manipolatore attraverso protocolli industriali standard e interfacce di comando intuitive. Il lavoro è stato svolto durante il periodo di tirocinio presso l’azienda I-Labs industry s.c.a.r.l. di Jesi, in un contesto dedicato alla ricerca e sviluppo di soluzioni per l’automazione e l'intelligenza artificiale. L’attività ha previsto un’analisi approfondita dell’architettura di rete del controllore FANUC R-30iB Mini Plus e la realizzazione di un collegamento bidirezionale tra PC e robot tramite protocollo Modbus TCP/IP, utilizzato per lo scambio di dati numerici, variabili interne e segnali digitali. Successivamente, per superare i limiti del Modbus nel controllo dinamico dei movimenti, è stato integrato il protocollo Remote Motion Interface (RMI), che consente di inviare comandi in tempo reale mediante connessione TCP/IP e messaggi in formato JSON. Attraverso questa interfaccia è stato possibile gestire in modo diretto la cinematica del robot, leggere lo stato del controllore e impartire istruzioni di movimento senza l’uso di programmi TP dedicati. Su tale infrastruttura di comunicazione è stata poi sviluppata un’interfaccia vocale basata il riconoscimento e la sintesi vocale, che permette di impartire comandi in linguaggio naturale al robot. L’intero progetto è stato implementato in Python, sfruttando moduli dedicati alla comunicazione Modbus e RMI.
Sviluppo di una interfaccia industriale per il controllo di un robot collaborativo tramite riconoscimento vocale automatico
PAPIRI, AURELIO
2024/2025
Abstract
The aim of this thesis is the development of a communication system between a PC and the collaborative robot FANUC CRX-10iA/L, designed to enable remote control of the manipulator through standard industrial protocols and intuitive command interfaces. The work was carried out during an internship at the company I-Labs Industry s.c.a.r.l. in Jesi, within a context focused on research and development of automation and artificial intelligence solutions. The activity involved an in-depth analysis of the network architecture of the FANUC R-30iB Mini Plus controller and the implementation of a bidirectional connection between the PC and the robot via the Modbus TCP/IP protocol, used for the exchange of numerical data, internal variables, and digital signals. Subsequently, to overcome the limitations of Modbus in dynamic motion control, the Remote Motion Interface (RMI) protocol was integrated. This interface allows real-time command transmission through a TCP/IP connection and JSON-formatted messages. Through RMI, it was possible to directly manage the robot’s kinematics, monitor the controller status, and issue motion instructions without relying on dedicated TP programs. On top of this communication infrastructure, a voice interface was developed based on speech recognition and speech synthesis, enabling the robot to be controlled through natural language commands. The entire project was implemented in Python, using modules specifically designed for Modbus and RMI communication.| File | Dimensione | Formato | |
|---|---|---|---|
|
aurelio tesi definitva.pdf
accesso aperto
Dimensione
2.59 MB
Formato
Adobe PDF
|
2.59 MB | Adobe PDF | Visualizza/Apri |
I documenti in UNITESI sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/20.500.12075/24558