Discrete modelling based control of a processing/reprocessing mechatronics line served by an autonomous robotic system

In this paper it is approached the problem of random events appearing in an automated processing/reprocessing line. The purpose is to give a model of the processing/reprocessing line and to introduce in the process a wheeled mobile robot (WMR)equipped with a robotic manipulator (RM). Reprocessing starts after the processing and after the processed piece fails the quality test. Reprocessing is needed to bring the piece to the parameters required. The WMR with RM is used to transport the piece for reprocessing. For the development of these models, Petri Nets will be used. These models should be coherent with real time evolution of the process. Considering these conditions, solving the main problems concerning the processing line operations is achieved with the help of a robot capable of both transporting and manipulation tasks.