Modeling and Control of Assembly/Disassembly Mechatronic Line Served by Robotic Manipulator Mounted on Mobile Platform
Résumé
The new idea of this paper is to make reversible an assembly mechatronic line, i.e. to allow complete disassembly, by using a mobile platform equipped with robotic manipulator. The approach is a hybrid one, in which the assembly/disassembly line is the discrete system while the wheeled mobile robot (WMR) together with the robotic manipulator (RM) is considered the continuous one. The mobile platform is used only in disassembling operations, in order to transport the components from the disassembling locations to the storage locations. Therefore, Synchronized Hybrid Petri Nets (SHPN) approach is used in modeling and control. This hybrid system takes into consideration the distribution of the necessary tasks to perform the hybrid disassembly of the components, using robot synchronization with flexible line process. The ultimate goal is to make completely reversible the assembly line. The SHPN model is transposed into LabView platform, such as to get a control structure of the mechatronic line and of WMR.