Positioning Control through Command Messages Inside a Flexible Robotic Cell with AGV

Compared with control methods that use analog signals in servo feedback control loops, a control method through multi-agent related command messages for AGV positioning into a specific flexible robotic cell work sequence is presented. In order to ensure the communication between the vehicle and the robot, RTOS robotic controller prototypes with modified protocol are used. Overall system performance is analyzed by using modeling tools for discrete event systems like GSPN. The interaction between AGV and flexible robotic cell components is implemented through communication messages using serial data received from an optical XY encoder, communication protocol receive function is modeled with Generalized Stochastic Petri Net GSPN. The achieved results that are validated on the experimental RTOS robotic platform and DMQX language extension for robotic applications conduct to robot-AGV interaction optimization, decrease the flexible cell´s cycle time and increase the positioning precision of the AGV.