Proposta de estratégia de coordenação para sistemas holônicos de manufatura baseada em agentes e stigmergia

Abstract

In this work is proposed and developed an agents (hólons) based coordination strategy for automated production systems composed of heterogeneous collaborative manufacturing modules, this strategy will allow these systems dynamically adapt to changes and disturbances of the modern industrial environment. In order to validate the proposed strategy is projected and simulated a configuration for a flexible manufacturing system comprising: a hydraulic table, an articulated robot, a robotic hand as a gripping system, and a mobile robot. In the proposed coordination strategy is used an holarchical type architecture (ADACOR), within this architecture the projected hólons (agents) can work both in an independent manner reaching local objectives or in an integrated manner cooperating each other to achieve the global production objectives.The coordination and reconfiguration between the hólons inside the system in order that these can work in a collaborative form (coordination -cooperation) is developed using a collective artificial intelligence technique known as Stigmergy combined with self-organizing neural networks. Therefore, the reconfiguration process of manufacturing system is optimized providing locally the global information of the system, in addition in this work is also added an adaptive component into the hólons of ADACOR hybrid architecture, aiming flexibility, adaptability and speed of reconfiguration in obtaining manufacturing plans to deal with failures or disturbances.The strategy proposed in this work can also be used in other applications that require the collaborative integration of mechatronic devices.