MMS and interprocess communication for multiple robot assembly system

The modern manufacturing facility uses the multiple robot assembly system (MRAS) which consists of two or more robots that cooperate in accomplishing a complex manufacturing task within a manufacturing cell to improve efficiency. As most MRAS tasks are complex in nature, the processes involved in the execution of operations are usually implemented in a distributed fashion and thus would require an interprocess communication (IPC) facility to integrate the individual elements. Among the known approaches to IPC, the network-oriented technique involving MMS (manufacturing message specification) is presented, including some application layer concepts and a description of the environment in which MMS is used