Đồ án tốt nghiệp - Research and development on utilizing autonomous IMMR ( FFMS ( AOM & MHIMW

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND
EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION PROJECT

RESEARCH AND DEVELOPMENT ON UTILIZING
AUTONOMOUS INDUSTRIAL MOBILE
MANIPULATOR ROBOT (AIMMR) FOR FLEXIBLE
MANUFACTURING SYSTEM (FMS) APPLICATION
ON MATERIAL &amp MACHINE HANDLING IN
MACHINING WORKSHOPS.

Supervisor: VŨ VĂN PHONG, Associate Professor PhD.

TRAN GIA HAO

21151415

LAM CHI LUC

21151423

Major: AUTOMATION AND CONTROL TECHNOLOGY
Ho Chi Minh City, July 2025

CONTENT
ACKNOWLEDGMENT ...................................................................................... i
CONTENT .......................................................................................................... ii
LIST OF ABBREVIATIONS ............................................................................. vi
LIST OF FIGURES ..........................................................................................viii
LIST OF TABLES ............................................................................................ xvi
CHAPTER 1: OVERVIEW ................................................................................. 1
1.1. Introduction .............................................................................................. 1
1.2. Objectives ................................................................................................. 6
1.3. Approaches and research methods ........................................................... 6
1.3.1. Approaches ................................................................................................ 6
1.3.2. Research methods ...................................................................................... 7
1.4. Limitations ................................................................................................ 7
1.5. Research contents ..................................................................................... 8
CHAPTER 2: THEORETICAL BACKGROUND ........................................... 10
2.1. Overview of Autonomous Robots .......................................................... 10
2.1.1. Common types of autonomous robots in industry .................................. 10
2.1.2. The drive systems of autonomous robots ................................................ 12
2.1.3. The kinematic theory of differential drive autonomous robots ............... 16
2.2. Mathematical model for a 6-DoF robotic arm........................................ 21
2
...

...
ooleanField()
vel = models.IntegerField()
acc = models.IntegerField()
corner = models.IntegerField()
class Meta:
ordering = [point_id]
def __str__(self):
return fPoint {self.point_id} of {self.path.name}
class Global(models.Model):
point_id = models.IntegerField()
name = models.CharField(max_length=255)
x = models.FloatField()
y = models.FloatField()
z = models.FloatField()
roll = models.FloatField()
pitch = models.FloatField()
yaw = models.FloatField()
209

APPENDICES

tool = models.IntegerField()
figure = models.IntegerField()
work = models.IntegerField()
class Meta:
ordering = [point_id]
def __str__(self):
return fPoint {self.point_id}
class LoadName(models.Model):
name = models.CharField(max_length=255, unique=True)
class LoadData(models.Model):
x = models.FloatField()
y = models.FloatField()
z = models.FloatField()
mass = models.FloatField()
jx = models.FloatField()
jxy = models.FloatField()
jxz = models.FloatField()
jyx = models.FloatField()
jy = models.FloatField()
jyz = models.FloatField()
jzx = models.FloatField()
jzy = models.FloatField()
jz = models.FloatField()
class Site(models.Model):
site_id = models.IntegerField(unique=True)
name = models.CharField(max_length=255)
210

APPENDICES

class Meta:
ordering = [site_id]
def __str__(self):
return self.name
class Map(models.Model):
site

=

models.ForeignKey(Site,

to_field=site_id,

on_=models.CASCADE)
map_id = models.IntegerField()
name = models.CharField(max_length=255)
new_file = models.BooleanField()
name_file = models.CharField(max_length=255)
class Meta:
ordering = [map_id]
def __str__(self):
return fPoint {self.map_id} of {self.site.name}

class Accounts(models.Model):
username = models.CharField(max_length=255)
password = models.CharField(max_length=255)
fullname = models.CharField(max_length=255)
gmail = models.CharField(max_length=255)
class Meta:
ordering = [username]
211

APPENDICES

def __str__(self):
return fIts work with {self.username}
Commands for writing and reading registers from PLC
Read multiple registers
self.plc.randomread(
word_devices=word_devices,
dword_devices=dword_devices
)
Write multiple registers
self.plc.randomwrite(
word_devices=word_devices,
word_values=word_values,
dword_devices=dword_devices,
dword_values=dword_values
)
Read 1 or multiple bits
self.plc.batchread_bitunits(
headdevice=device_name,
readsize=size
)
Write 1 or multiple bits
self.plc.randomwrite_bitunits(
bit_devices=device_name,
values=values
)

212