Pilotage d’une cellule robotisée simulée à l’aide d’un automate programmable

Abstract

Piloting a robotic cell using an industrial programmable logic controller is the subject of this document. This work consists of creating a virtual platform to control a KUKA robot arm via decentralized ET200SP programmable controller and centralize them with an S7 1500 through the TIA PORTAL software with SIMATIC S7-PLCSIM advanced which allows to create virtual controllers. The proposed solution is based essentially on the HIL technique “hardware in The Loop", that allows you to test a physical system virtually without using a real installation. The arm movements will be visualized in three dimensions on the V-REP simulator software where the functional programs of the platform are written.