Abstract
This paper deals with control system design and implementation problems encountered in multiple robot systems. The methodology developed is depicted by a set of coordination mechanisms using hierarchical net structures and their accompanying rules. With the net models, the hierarchical and distributed control system is designed for an assembly task. Synchronization commands allow coordination of the movements of the robots. The net models make concurrency of the movements of the robots transparent to users. The net based machine controller executes robot motion control through the communication with the external robot controller using the command/response concept. Sensory signals indicating the change of state of robots are used to trigger or initiate tasks. Simultaneous movement of the robots is obtained by creating different background threads running in parallel under Windows OS. The multilevel hierarchical control system can be consistently constructed using net models.
Highlights
Based on the rapid development of the microprocessor technology, the factory automation systems have been continuing to become more and more largescaled, complicated, and integrated
This paper deals with control system design and implementation problems encountered in multiple robot systems
Some techniques derived from Petri nets have been successfully introduced as an effective tool for representing control specifications including concurrent processes, which are characteristic of complex systems, analyzing system properties and designing control systems [1]
Summary
Based on the rapid development of the microprocessor technology, the factory automation systems have been continuing to become more and more largescaled, complicated, and integrated. Petri nets are used to indicate the flow of control, and by decomposing the net, the concept of upper and lower control levels is clarified. The microprocessors seem to be the most suitable to realize the coordinator They can be used to realize the coordinators corresponding to decomposed nets, besides the coordinator in the upper control level, using software directly on the same hardware. The author presents a net based methodology for synthesizing complicated control software hierarchically for large and complex robotic systems, especially multiple robot systems. An algorithm is proposed for coordination of machine controllers so that robots can synchronize activities and avoid harmful conflicts. Highly reliable and efficient development of complicated real-time concurrent control algorithms for multiple robotic processes can be achieved
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