Application of design and control tools in a multirobot cell

This paper describes how the theory of automated manufacturing cell and industrial robotics has been applied to the design and operation of a multirobot cell. The manufacturing cell is installed at Purdue University and consists of a PLC (Programmable Logic Controller), two industrial robots, two machine stations (for grinding and washing), and a conveyor. The design and control issues of the implemented manufacturing cell include the design of control architecture, synchronous and asynchronous sequence controls, deadlock prevention by Petri-net analysis, off-line operation plan by robot time-and-motion study, and error recovery. The application of the theoretical tools in this cell has proven effective in achieving the efficiency and reliability advantages of multirobotic operations.