Synchronization of Heterogeneous Multi-Robotic Cell with Emphasis on Low Computing Power

Martin Juhás,Bohuslava Juhásová

doi:10.3390/app10155165

Martin Juhás, Bohuslava Juhásová

Open Access

https://doi.org/10.3390/app10155165

Copy DOI

Abstract

This paper presents a time-synchronization solution for operations performed by a heterogeneous set of robotic manipulators grouped into a production cell. The cell control is realized using master–slave architecture without an external control element. Information transmission in a cell is provided by a TCP/IP channel in which communication is ensured via sockets. The proposed problem solution includes an algorithm, which is verified and validated by simulation and tested in real environment. This algorithm requires minimal computational power thanks to an empirically oriented approach, which enables its processing directly by the control unit of each participating element of the robotic cell. The algorithm works on the basis of monitoring and evaluating time differences among sub-operations of master and slave devices. This ensures defined production cycle milestones of each robotic manipulator in the cell at the same time are attained. Dynamic speed adaptation of slave manipulators utilizing standard instructions of their native language is used. The proposed algorithm also includes a feedforward form of operations synchronization which responds to changes in the operating cycle of the master manipulator. The application of the solution proposal is supplemented with a visualization part. This part represents a complementary form of designed solution implementation.

Highlights

IntroductionA current significant challenge for industrial production is vision substantiation of a future factory within the concept of Industry 4.0, with the aid of the Internet of Things (IoT) concept
A current significant challenge for industrial production is vision substantiation of a future factory within the concept of Industry 4.0, with the aid of the Internet of Things (IoT) concept.The implementation of this concept into production requires high flexibility and adaptability of production lines and their smaller units
The organizational structure of this robotic cell control was realized as master–slave [24,25]

Summary

Introduction

A current significant challenge for industrial production is vision substantiation of a future factory within the concept of Industry 4.0, with the aid of the Internet of Things (IoT) concept. The implementation of this concept into production requires high flexibility and adaptability of production lines and their smaller units. Individual customer orders determine manufacturing processes and the associated supply chains This results in the need for high production flexibility with shorter production times, which require the implementation of measures to improve production efficiency, often at a low cost associated with solving these problems.

Objectives

Methods

Results

Conclusion