Coordination method of pencil lead sinter production line system based on MAS

In this paper, the coordination method of the automatic reform for a pencil lead sinter production line is studied. For the complex task characteristics of the production line, we design the pencil lead sinter production line system with a variety structures of robots based on the theory of MAS(Multi-Agent-System), including robotic structures of gantry robot, rotating robot, cantilever robots. According to the characteristics of the system, we focus on coordination methods and scheduling of the entire system. Aiming at the defect of traditional contract net, the parameters of credibility and friendly degrees are adopted, and the task contractor attribute parameters are put forward to improve the contract net model. The improved contract net method is used to coordinate and schedule the entire system. After simulation and practical experiments, this method is verified to be able to make the system complete the entire production process efficiently and stably. Hence, the workers are freed from the harsh working environments and the cost of production is greatly reduced.