Abstract
This paper proposes the implementation of an assisting technology to a processing/reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic systems (ARSs), two robotic manipulators (RMs) and three visual servoing systems (VSSs). The P/RML has four line-shaped workstations assisted by two ARSs—wheeled mobile robots (WMRs): one of them equipped with an RM, used for manipulation, and the other one used for transport. Two types of VSSs—eye to hand and eye in hand—are used as actuators for precise positioning of RMs to catch and release the work-piece. The work-piece visits stations successively as it is moved along the line for processing. If the processed piece does not pass the quality test, it is taken from the last stations of the P/RML and it is transported to the first station where it will be considered for reprocessing. The P/RML, assisted by ARSs, RMs and VSSs, was modelled with the synchronized hybrid Petri nets (SHPN). To control the ARSs, we propose the use of trajectory-tracking and sliding-mode control (TTSMC). The precise positioning that allows the picking up and releasing of the work-piece was performed using two types of VSSs. In the case of the first one, termed eye to hand VSS, the cameras have a fixed position, located at the last and the first workstations of the P/RML. For the second one, named eye in hand VSS, the camera is located at the end effector of the RM.
Highlights
Central to the idea of the paper is the overall proposed approach: a technology that works on a laboratory system and integrates several systems: processing/reprocessing mechatronics line (P/RML), autonomous robotic systems (ARSs), robotic manipulators (RMs) and visual servoing systems (VSSs)
The main elements of originality and contributions are concentrated in the following areas: tasks assignment, planning and synchronization of P/RML assisted by ARSs, RMs and VSSs, hybrid modelling and simulation with synchronized hybrid Petri nets (SHPN), modelling and implementation eye to hand and eye in hand VSS and real-time control, so that the whole system becomes fully automated
VSS, based of the moment of the images, are presented in Section 4; in Section 5, the implementation and real-time control of the P/RML assisted by two ARSs, two RMs, two eye to hand and one eye in hand VSSs based on the SHPN model and signals from sensors are presented; comments on the robustness to of thethe uncertainties of the proposed technology and the of need the use of VSSs be
Summary
Central to the idea of the paper is the overall proposed approach: a technology that works on a laboratory system and integrates several systems: processing/reprocessing mechatronics line (P/RML), autonomous robotic systems (ARSs), robotic manipulators (RMs) and visual servoing systems (VSSs). RMs and VSSs with task planning useful preliminary assumptions, for developing SHPN model, are laid out in Section 2; model structure and SHPN model formalism, in generalised and customised forms, is presented in Section 3; simulation results are presented for the customised SHPN model associated with P/RML, assisted by ARSs; modelling and control of the eye to hand and eye in hand. VSS, based of the moment of the images, are presented in Section 4; in Section 5, the implementation and real-time control of the P/RML assisted by two ARSs, two RMs, two eye to hand and one eye in hand VSSs based on the SHPN model and signals from sensors are presented; comments on the robustness to of thethe uncertainties of the proposed technology and the of need the use of VSSs be.
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