Modeling and Control of a Mechatronics System Served by a Mobile Platform Equipped with Manipulator
New idea of this paper is to make a processing line capable of reprocessing pieces that have not passed the quality test at the end of the line.The focus is to provide a model of the processing system and to introduce an autonomous robotic system(ARS)type a wheeled mobile robot(WMR)equipped with a robotic manipulator(RM)in order to transport pieces,for reprocessing.For this purpose,an processing/reprocessing mechatronics system(P/RMS)and a timed hybrid Petri nets(THPN)model will be used in modeling and control of the mechatronics system,with a fixed number of workstations,served by a WMR equipped with(RM).The THPN model is a hybrid type,where P/RML is the discrete part and WMR with RM is the continuous part.The reprocessing starts after the piece fails the quality test.The WMR with RM is used only at the start of reprocessing,in order to transport the pieces from the warehouse to the beginning of the processing system.
Processing/Reprocessing Mechatronics System Wheeled Mobile Robot Robotic Manipulator Timed Hybrid Petri Nets
FILIPESCU Adriana PETREA George FILIPESCU Adrian FILIPESCU Silviu
Department of Automation and Electrical Engineering,“Dunarea de Jos University of Galati,800008,Galati,Romania
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
6577-6582
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）