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

• Published in: Control Engineering Practice
• Main Authors: Minca, Eugénia, Voda, Alina, Filipescu, Adrian
• Other Authors: 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, Projet PCE Idei (Roumanie)
• Format: Article in Journal/Newspaper
• Language: English
• Published: HAL CCSD 2014
• Subjects: Assembly/disassembly mechatronics line; Balancing; Wheeled mobile robot; Robotic manipulator; Petri nets; [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering; DML
• Online Access: https://hal.univ-grenoble-alpes.fr/hal-01455493; https://doi.org/10.1016/j.conengprac.2014.06.005

International audience 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.