A modular control design method for a flexible manufacturing cell including error handling

This paper introduces a modular design method for a flexible manufacturing cell. First, we provide a definition for a flexible manufacturing cell, and then we propose a design method for its cell controller. We divide the controller into two parts: the resource allocation control and the operation control. Based on this structure, we develop operation blocks integrated with error handling and recovery, and prove some properties about their behaviors. Finally, we introduce a case study and apply the proposed method to this example.