Mechatronics Manufacturing Line with Integrated Autonomous Robots and Visual Servoing Systems

摘要

This paper deals a manufacturing technology on a processing/reprocessing mechatronics line (P/RML), based on autonomous robots and visual servoing systems (VSSs). The P/RML has four workstations, line shaped, being serviced by two wheeled mobile robots (WMRs), robotic manipulators (RMs) and two types of VSSs for caching, transporting and releasing work piece. Due to the control structure, P/RML becomes fully automated allowing processing, reprocessing, manipulation and transport, without the intervention of the human operator. If the processed piece does not pass the quality test, it is taken from the last stations of the P/RML to be transported to the first station where it will be considered for reprocessing. The P/RML assisted by WMRs, RMs and VSSs, was modeled with the synchronized hybrid Petri nets (SHPN). Trajectory-tracking, sliding-mode control (TTSMC) is used to control WMRs. Two types of VSSs were used for the precise positioning of the RMs when catching or releasing the work piece. To the first one, called eye to hand, the web camera has a fixed position, usually positioned on the last workstation of the P/RML. To the second one, called eye in hand, the web camera is located on the end effect or of the manipulator, thus the VSS is mobile.