Modelling and Control of Mechatronics Lines Served by Complex Autonomous Systems

Abstract

The aim of this paper is to reverse an assembly line, to be able to perform disassembly, using two complex autonomous systems (CASs). The disassembly is functioning only in case of quality default identified in the final product. The CASs are wheeled mobile robots (WMRs) equipped with robotic manipulators (RMs), working in parallel or collaboratively. The reversible assembly/disassembly mechatronics line (A/DML) assisted by CASs has a specific typology and is modelled by specialized hybrid instruments belonging to the Petri nets class, precisely synchronized hybrid Petri nets (SHPN). The need of this type of models is justified by the necessity of collaboration between the A/DML and CASs, both having characteristics and physical constraints that should be considered and to make all systems compatible. Firstly, the paper proposes the planning and scheduling of tasks necessary in modelling stage as well as in real time control. Secondly, two different approaches are proposed, related to CASs collaboration: a parallel approach with two CASs have simultaneous actions: one is equipped with robotic manipulator, used for manipulation, and the other is used for transporting. This approach is correlated with industrial A/D manufacturing lines where have to transport and handle weights in a wide range of variation. The other is a collaborative approach, A/DML is served by two CASs used for manipulation and transporting, both having simultaneous movements, following their own trajectories. One will assist the disassembly in even, while the other in odd workstations. The added value of this second approach consists in the optimization of a complete disassembly cycle. Thirdly, it is proposed in the paper the real time control of mechatronics line served by CASs working in parallel, based on the SHPN model. The novelty of the control procedure consists in the use of the synchronization signals, in absence of the visual servoing systems, for a precise positioning of the CASs serving the reversible mechatronics line.

Manufacturing Technology on a Mechatronics Line Assisted by Autonomous Robotic Systems, Robotic Manipulators and Visual Servoing Systems

“…We mention in [5] that the SHPH model and its simulation in autonomous mode (HPN model) are based on two reasons. The first one is to make compatible the discrete dynamics of P/RML with the continuous dynamics of ARSs.…”

“…The second one is due to the uncertainty introduced by the precise positioning of the RM for picking up or releasing the work-piece, because VSSs have not been implemented. Additionally, we state in [5,9,28] that the introduction of VSSs is a research objective in the near future. Assisting P/RML by VSSs, RMs and VSSs led to the elimination of an important part of the uncertainty during a complete cycle.…”

“…Additionally, an obstacle avoidance method based on sonars and ultrasounds was implemented [5,9,10]; • control loop for RM Cyton 1500 based on eye in hand VSS for precise positioning for picking up work-piece from ARS PeopleBot. The eye in hand VSS camera is mounted on the end effector of RM Cyton 1500; • control loop for RM Cyton 1500 based on inverse kinematic for transporting work-piece and eye to hand VSS2 to release it on P/RML.…”

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

“…By doing so, it will be possible to optimize the whole production cycle uniformly. It should be noted that for accurate localization of the Wheeled Mobile Robot, utilizing synchronization signals could be considered, obviating the necessity of visual serving systems [74].…”

“…Fig.5. Sample industrial robots with applications in RAD: (a) A Unimate robot with polar configuration[134], (b) An articulated robot in a foundry[135], (c) A gantry robot[136], (d) A benchtop cylindrical microplate handler robot for lab automation[137], (e) A Selective Compliance Assembly Robot Arm [138], (f) A Codian Robotics delta robot [139], (g) A prototype machine of the TriMule ® robot[72], (h) A Wheeled Mobile Robot within an Assembly/Dissasembly Mechatronics Line[74].…”