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

摘要

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.