An approach to interconnection, modelling and simulation for a multi-robot workcell

For a robotic workcell with multiple robots, several interconnection methods are presented in terms of the processor based architecture. Since few attempts have been made to formulate and analyze multi-robot interconnection system (MRIS), the authors turn the knowledge of multiple processor system (MPS) or multiple computer system (MCS) to good account. The systems are modelled using the queuing network. Performance evaluation is done through the mean value analysis with their response time and the probability of service failure under different workloads. To verify the significance of the proposed analysis method, a computer simulation is performed. The results together with comments suggest some useful guidelines for selecting an appropriate interconnection method for the MRIS