A New Approach for the Control Optimization of an
Assembly/Disassembly Mechatronics Line Served by an
Autonomous Robotic System

Eugenia MINCA
Department of Automation, Computer Science and Electrical Engineering, “Valahia” University of Târgovişte,
18-24 Unirii Boulevard, 130082 Târgovişte, Romania
eugenia.minca@gmail.com

Abstract: In this paper a generalized Synchronized Hybrid Petri Nets (SHPN) model for the control of repetitive tasks is presented. It is assumed that the process has both discrete and continuous components but integrated in repetitive tasks series. Generalized SHPN model describe this hybrid system with N degree of repetitive tasks. The proposal is customized to an assembly/disassembly process of a mechatronics line (A/DML), served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM). For the A/DML model, the assembly is a conventional process with a specific typology of discrete system events (DES) while the disassembly process (served by WMR), is assimilated with a hybrid process. The hybrid aspect, identified only on the disassembly levels is determined by the mobile robot states with discrete and continuous variation characteristics. The hybrid control system takes into account the distribution of the necessary tasks to perform the disassembly of components by using the robot synchronization with the A/DML. Taking all these aspects into consideration, an optimization approach of time cycle for repetitive processes is proposed.

Keywords: assembly/disassembly; manufacturing line; wheeled mobile robot; robotic manipulator; Petri Nets.

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CITE THIS PAPER AS:
Eugenia MINCA, A New Approach for the Control Optimization of an Assembly/Disassembly Mechatronics Line Served by an Autonomous Robotic System, Studies in Informatics and Control, ISSN 1220-1766, vol. 23 (1), pp. 13-22, 2014. https://doi.org/10.24846/v23i1y201402

Introduction

This paper proposes a generalized Synchronized Hybrid Petri Nets (SHPN) dedicated for the control of a hybrid repetitive process. The tool SHPN is dedicated to control modeling of hybrid systems composed of repetitive tasks series. These repetitive components we define as the elementary operations. The model of entire process requires using specific tools dedicated to discrete or continuous DES model, but adapted for repetitive and synchronized tasks description.

The proposal will be tested for a reversible assembly/disassembly manufacturing line (A/DML) served by wheeled mobile robot (WMR) equipped with robotic manipulator (RM).

In this paper, the concepts of assembly/disassembly tasks are illustrated in SHPN model complies with discrete approach for the elementary assembly/disassembly operations and the continuous approach for displacement of WMR. The considered system is a hybrid one and requires specialized tools for modeling, as in (David and Alla, 2010). The hybrid model is elaborated using the dedicated modeling tool, HPN, described in (Filipescu, et al., 2012) and (Radaschin, et al., 2011). Combining the SED model of the analyzed system with the cyclic and continuous time of the WMR with RM results a SHPN model.

This paper is organized as follows: the description of A/DML served by WMR with RM and SHPN model, in generalized and customized forms, are presented in Section 2; the generalized and customized SHPN formalism is presented in Section 3. Section 4 is reserved to the optimization of the time cycle corresponding to the control of repetitive processes; some conclusion remarks can be found in Section 5.

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