A Theoretical Approach of the Time Cycle Optimisation Based Control of a Mechatronics Line Served by Mobile Robot

Abstract

In this paper a theoretical approach of the generalized hybrid model and time cycle optimization of a mechatronics line served by mobile robot with manipulator is presented. Thus, the considered global model is a hybrid one as it is based on the dynamics of discrete and continuous components which interact on a basic level. The generalized Synchronized Hybrid Petri Nets (SHPN) model describes this hybrid system with N degree of repetitive tasks. The advantage of this generalized approach consists in the optimization of the process parameters. Consequently, a time cycle optimization which is based on the minimization of temporal duration events is proposed. The proposal is exemplified by the assembly/disassembly process of a mechatronics line (A/DML), served by a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM).