Abstract
The article introduces a method to enable a robot, the "AMATROL JUPITER XL," without relying on its conventional controllers. Instead, a Human-Machine Interface (HMI) is employed using Allen Bradley's "ControlLogix 5550" software. This setup combines the engineering program MATLAB (via the Simulink extension) to develop control block diagrams containing calculations for robot design and comprehension. A data read-write interface is implemented on an "Allen Bradley 1756-L1" PLC, along with the integration of an Open Platform Communication (OPC) platform using the "RSLinx Classic" software. This configuration empowers the user to manipulate trajectories and objectives using calculations that depict the kinematics and dynamics of the mentioned robot. Consequently, this setup offers a control option that enables direct application of theoretical mathematical principles to the design and control aspects of robotics, leading to enhanced understanding of these principles.
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