Hybrid system control of an assembly/disassembly mechatronic line using robotic manipulator mounted on mobile platform

摘要

Two models of a mechatronic assembly line served by robotic manipulator mounted on mobile platform in order to perform disassembly are proposed in this paper. The first one is a discrete event model, where both the assembly/disassembly mechatronic line and wheeled mobile robot (WMR) equipped robotic manipulator are treated as discrete systems. The second one is a hybrid system in which the mechatronic line is the discrete event system (DES) and the WMR together with the manipulator is considered as a continuous system. To the first model, Temporized Petri Net (TPN) is used in order to model assembly/disassembly tasks of the mechatronic line served by robotic manipulator mounted on WMR. The mobile platform is used only in disassembling operations in order to transport the parts from the disassembling locations to the storage locations. To the second model, the cycle performed by the WMR equipped with robotic manipulator is considered as a continuous system. Therefore, Hybrid Petri Net (HPN) is used in modeling and control. This hybrid system takes into consideration the distribution of the necessary tasks to perform the hybrid disassembly of a component using robots synchronization with flexible line process. The ultimate goal is to make completely reversible the assembly line, that is to execute and disassembly.