Holonic robot control for job shop assembly by dynamic simulation

Author

Borangiu, Theodor ; Gilbert, Pascal ; Ivanescu, Nick ; Rosu, Andrei

Author_Institution

Dept. of Autom. & Appl. Inf., Univ. Politeh. of Bucharest, Bucharest

fYear

2008

fDate

25-27 June 2008

Firstpage

419

Lastpage

424

Abstract

The paper describes a holonic control solution for fault-tolerant job shop assembly with networked robots, based on the dynamic simulation of material processing and transportation. The designed holarchy considers the PROSA reference architecture, and was implemented by help of an object oriented step scheduler (off-line production planning, failure- and recovery management, and online production tracking) and OPC-based real-time PLC software integration (execution of order holons at batch level). Experimental results are reported as well as considerations about holarchy mapping on the computing architecture and future developments.

Keywords

assembly planning; robotic assembly; OPC-based real-time PLC software integration; PROSA reference architecture; dynamic simulation; fault-tolerant job shop assembly; holonic robot control; material processing; networked robots; object oriented step scheduler; off-line production planning; online production tracking; Computer architecture; Fault tolerance; Job shop scheduling; Materials processing; Object oriented modeling; Processor scheduling; Production planning; Robot control; Robotic assembly; Transportation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2008 16th Mediterranean Conference on

Conference_Location

Ajaccio

Print_ISBN

978-1-4244-2504-4

Electronic_ISBN

978-1-4244-2505-1

Type

conf

DOI

10.1109/MED.2008.4602217

Filename

4602217