Hybrid Model Based Control of a Mechatronics Line Served by Mobile Robot with Manipulator
International audience This paper presents the model and control structure of an assembly/disassembly mechatronics line (A/DML) served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM). The model is a hybrid type, where A/DML is the discrete part and WMR with RM is the continuou...
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ftccsdartic:oai:HAL:hal-00939455v1 2023-05-15T16:01:21+02:00 Hybrid Model Based Control of a Mechatronics Line Served by Mobile Robot with Manipulator Minca, Eugenia Voda, Alina Filipescu, Adrian Dep. of Automation, Computer Science and Elec. Eng Valahia University of Targoviste Roumanie (UVT) GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR) Département Automatique (GIPSA-DA) Grenoble Images Parole Signal Automatique (GIPSA-lab) Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab) Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS) Department of Automation and Industrial Informatics Dunărea de Jos University of Galați Romania Melbourne, Australia 2013-06-19 https://hal.archives-ouvertes.fr/hal-00939455 en eng HAL CCSD hal-00939455 https://hal.archives-ouvertes.fr/hal-00939455 Proceedings of the 8th IEEE ICIEA2013 8th IEEE International Conference on Industrial and Electronic Application (ICIEA2013) https://hal.archives-ouvertes.fr/hal-00939455 8th IEEE International Conference on Industrial and Electronic Application (ICIEA2013), Jun 2013, Melbourne, Australia. pp.1296-1301 [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering info:eu-repo/semantics/conferenceObject Conference papers 2013 ftccsdartic 2021-10-24T14:00:34Z International audience This paper presents the model and control structure of an assembly/disassembly mechatronics line (A/DML) served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM). The model is a hybrid type, where A/DML is the discrete part and WMR with RM is the continuous part. Moreover, the model operates as a synchronized with signals from sensors. Thus, using Petri Nets (PN) in modeling, get a Synchronized Hybrid Petri Nets (SHPN). The disassembly process starts after the assembly process and final piece fails the quality test, in order to recover the components. The WMR equipped with RM is used only in disassembling process, in order to transport the components from the disassembling locations to the storage locations. Thus, the A/DML becomes reversible. Using a LabView platform and SHPN model, a real-time control structure is implemented. Conference Object DML Archive ouverte HAL (Hyper Article en Ligne, CCSD - Centre pour la Communication Scientifique Directe) |
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Open Polar |
collection |
Archive ouverte HAL (Hyper Article en Ligne, CCSD - Centre pour la Communication Scientifique Directe) |
op_collection_id |
ftccsdartic |
language |
English |
topic |
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering |
spellingShingle |
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering Minca, Eugenia Voda, Alina Filipescu, Adrian Hybrid Model Based Control of a Mechatronics Line Served by Mobile Robot with Manipulator |
topic_facet |
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering |
description |
International audience This paper presents the model and control structure of an assembly/disassembly mechatronics line (A/DML) served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM). The model is a hybrid type, where A/DML is the discrete part and WMR with RM is the continuous part. Moreover, the model operates as a synchronized with signals from sensors. Thus, using Petri Nets (PN) in modeling, get a Synchronized Hybrid Petri Nets (SHPN). The disassembly process starts after the assembly process and final piece fails the quality test, in order to recover the components. The WMR equipped with RM is used only in disassembling process, in order to transport the components from the disassembling locations to the storage locations. Thus, the A/DML becomes reversible. Using a LabView platform and SHPN model, a real-time control structure is implemented. |
author2 |
Dep. of Automation, Computer Science and Elec. Eng Valahia University of Targoviste Roumanie (UVT) GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR) Département Automatique (GIPSA-DA) Grenoble Images Parole Signal Automatique (GIPSA-lab) Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab) Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS) Department of Automation and Industrial Informatics Dunărea de Jos University of Galați Romania |
format |
Conference Object |
author |
Minca, Eugenia Voda, Alina Filipescu, Adrian |
author_facet |
Minca, Eugenia Voda, Alina Filipescu, Adrian |
author_sort |
Minca, Eugenia |
title |
Hybrid Model Based Control of a Mechatronics Line Served by Mobile Robot with Manipulator |
title_short |
Hybrid Model Based Control of a Mechatronics Line Served by Mobile Robot with Manipulator |
title_full |
Hybrid Model Based Control of a Mechatronics Line Served by Mobile Robot with Manipulator |
title_fullStr |
Hybrid Model Based Control of a Mechatronics Line Served by Mobile Robot with Manipulator |
title_full_unstemmed |
Hybrid Model Based Control of a Mechatronics Line Served by Mobile Robot with Manipulator |
title_sort |
hybrid model based control of a mechatronics line served by mobile robot with manipulator |
publisher |
HAL CCSD |
publishDate |
2013 |
url |
https://hal.archives-ouvertes.fr/hal-00939455 |
op_coverage |
Melbourne, Australia |
genre |
DML |
genre_facet |
DML |
op_source |
Proceedings of the 8th IEEE ICIEA2013 8th IEEE International Conference on Industrial and Electronic Application (ICIEA2013) https://hal.archives-ouvertes.fr/hal-00939455 8th IEEE International Conference on Industrial and Electronic Application (ICIEA2013), Jun 2013, Melbourne, Australia. pp.1296-1301 |
op_relation |
hal-00939455 https://hal.archives-ouvertes.fr/hal-00939455 |
_version_ |
1766397256628436992 |