Type of Document Master's Thesis Author Lawrence, Terry URN etd-01262010-020309 Title Control of an automated storage and retrieval system Degree Master of Engineering Department Industrial and Systems Engineering Advisory Committee
Advisor Name Title No Advisors Found Keywords
Date of Defense 1996-12-05 Availability restricted Abstract
The Robotics and Automation Laboratory at Virginia Polytechnic Institute and State University contains a Flexible Machining and Assembly System (FMAS) and an Automated Storage and Retrieval System (AS/RS). These systems were developed for educational purposes to emulate a typical flexible manufacturing process in industry. The AS/RS hardware was designed and constructed in a previous project by Mark Eaglesham. His project consisted of hardware development only and did not include control system development.
The objective of this project is to design a set of software primitives to control the AS/RS. This set of primitive control sequences for the AS/RS could be used by future students to further develop the AS/RS control system at the device control level or to integrate the AS/RS with the FMAS at the workcell control level. The set of control primitives were developed in Relay Ladder Logic (RLL) on a Texas Instruments 565 Programmable Logic Controller (PLC). The set of primitives include the following functions: initialize the system, store a pallet, retrieve a pallet, move to a specified location, and shutdown the system.
A communications dialog was developed for command and control interaction between the PLC and the workcell control computer. This protocol includes various functions to manage the AS/RS's operations. These functions commands from the workcell controller indicating what operation is needed and response from the AS/RS indicating its status and system error messages.
In order to test the AS/RS a program to simulate the workcell controller was developed. This project report includes a description of a test program developed using QuickC. Due to hardware difficulties, this test program was not implemented. The AS/RS primitives were tested using Texas Instrument's TISOFT RLL development and monitoring software package.
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