Modeling and control of a mechatronics system served by a mobile platform equipped with manipulator

摘要

New idea of this paper is to make a processing line capable of reprocessing pieces that have not passed the quality test at the end of the line. The focus is to provide a model of the processing system and to introduce an autonomous robotic system (ARS) type a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM) in order to transport pieces, for reprocessing. For this purpose, an processing/reprocessing mechatronics system (P/RMS) and a timed hybrid Petri nets (THPN) model will be used in modeling and control of the mechatronics system, with a fixed number of workstations, served by a WMR equipped with (RM). The THPN model is a hybrid type, where P/RML is the discrete part and WMR with RM is the continuous part. The reprocessing starts after the piece fails the quality test. The WMR with RM is used only at the start of reprocessing, in order to transport the pieces from the warehouse to the beginning of the processing system.