Modelling and control of an assembly/disassembly mechatronics line served by mobile robot with manipulator

Abstract : The aim of this paper is to reverse an assembly line using a mobile platform equipped witha manipulator. By reversibility we mean that the line is able to perform disassembly. For this purpose,an assembly/disassembly line balancing (A/DLB) and asynchronised hybrid Petrinets (SHPN) model willbe used to model and control an assembly/disassembly mechatronics line (A/DML), with a fixed numberof workstations, served by a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM).The SHPN model is a hybrid type, where A/DML is the discrete part, and WMR with RM is th econtinuouspart. Moreover, the model operates in synchronised mode with signals from sensors. Disassembly startsafter the assembly process and after the assembled piece fails the quality test, in order to recover theparts. The WMR with RM is used only during disassembly, to transport the parts from the disassemblinglocations to the storage locations. Using these models and a LabView platform, a real-time controlstructure has been designed and implemented, allowing automated assembly and disassembly, wherethe latter is assisted by a mobile platform equipped with a manipulator.
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Control Engineering Practice, Elsevier, 2014, 31, pp.50-62. 〈10.1016/j.conengprac.2014.06.005〉
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http://hal.univ-grenoble-alpes.fr/hal-01455493
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Soumis le : vendredi 3 février 2017 - 15:39:00
Dernière modification le : lundi 9 avril 2018 - 12:22:39

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Eugénia Minca, Alina Voda, Adrian Filipescu. Modelling and control of an assembly/disassembly mechatronics line served by mobile robot with manipulator. Control Engineering Practice, Elsevier, 2014, 31, pp.50-62. 〈10.1016/j.conengprac.2014.06.005〉. 〈hal-01455493〉

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