Multitasking robot-vision for supply holon execution in intelligent manufacturing

The paper presents a solution which integrates the robotized part resupply process in the overall production schedule of a distributed Manufacturing Execution System, which is temporarily altered but not interrupted. The semi-heterarchical control system, based on the PROSA reference architecture, is extended with a new type of holon - Supply - the execution of which is triggered at local storage depletion by shop floor robotic resources in heterarchical control mode. The execution of the Supply Holon is based on a dual intelligent material feeding unit operated by a multitasking robot-vision system; special safety techniques are developed to avoid robot collisions in the bulk parts supplying workstation. Experimental results are reported for a dual-part feeder organization, which reduces overall supply time up to 30% and increases robot usage by 20%.