Knowledge-based Holonic Robot Control of Job Shop Assembling
- Authors
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Theodor Borangiu
Politehnica University of Bucharest, Faculty of Automatic Control and Computers
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Florin Daniel Anton
Politehnica University of Bucharest, Faculty of Automatic Control and Computers
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Silvia Anton
Politehnica University of Bucharest, Faculty of Automatic Control and Computers
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Anamaria Dogar
Politehnica University of Bucharest, Faculty of Automatic Control and Computers
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Silviu Raileanu
Politehnica University of Bucharest, Faculty of Automatic Control and Computers
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- Abstract
- The paper describes a networked fault-tolerant assembly system of job shop type containing multiple robotized stations operating under visual control. During the assembly process, the products are identified, located, qualified, and controlled by analyzing images from virtual cameras associated to stationary- and arm-mounted cameras. The holonic control architecture is formed by the following types of entities: a Global Assembly Scheduler generating Order Holons, a dual layer of Material Handling (Robot) Holons and Sensory Holons, and a System Monitoring & Database entity. These elements are embedded in a 3-layer computing & control structure, and interconnected by a 4-fold fault-tolerant communication network keeping track of assembly job execution. Implementing issues and experimental results are reported.
- References
- Downloads
- Published
- 2006-12-31
- Issue
- Vol. 8 No. 4 (2006)
- Section
- Articles