Manufacturing workcell modelling and task facility

摘要

The manufacturing workcell modeling and tasking facility acts as an interface between the physical world of the manufacturing workcell and the database of workcell models and tasks. The modeling and monitoring interface provides an expert manufacturing user with a data definition language for describing instances of manufacturing workcell components. The tasking interface uses the workcell models and task specifications in the database to plan, simulate, execute and monitor the task execution in cooperating multi-robot workcells. The planner iteratively generates and evaluates task plans until a simulation successful task plan results. The task plan is then submitted to the manufacturing workcell controller.