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Industrial Automation, Communication and Data Management Prof. Cesana, Rocco, Tanca January xx, 2020 SOLUTION Industrial Automation, Communication and Data Management Prof. Matteo Cesana, Paolo Rocco and Letizia Tanca Consider the robotic cell sketched in the picture: The robot (2) can move a piece from the feeder (1) to either the discard bin (3) or the table (4), depending on a signal that informs the robot whether it is a good piece or a bad piece. Another signal notifies the robot about the presence of a piece on the feeder. 1. Explain what a Programmable Logic Controller is and what is its role in an automatized industry. Cite at least two programming languages for a PLC. A PLC is a programmable device that performs the correct sequencing of actions in an automation system. It is then in charge of the logic control and replaces sequential relay circuits with a device that, based on cyclic examination of inputs and a program written in an appropriate programming language, defines the correct evolution in time of the events in the plant. Among the programming languages, the Ladder Diagram and the Sequential Function Chart are the graphical ones. 2. Sketch a Sequential Function Chart (SFC) that might be used to represent the sequence of actions and related activations in the robotic cell represented above. A SFC that represents the correct sequence of actions might be the one sketched in this picture: 3. Explain what are the differences in programming the motion of a robot in the joint space or in the operational space. When programming the motion of a robot in joint space, the desired joint positions are directly specified. Singularities in this case do not create problems, as online kinematic inversion is not needed. It is a mode of interest when we just want that the…