Title :
Holonic robot control for job shop assembly by dynamic simulation
Author :
Borangiu, Theodor ; Gilbert, Pascal ; Ivanescu, Nick ; Rosu, Andrei
Author_Institution :
Dept. of Autom. & Appl. Inf., Univ. Politeh. of Bucharest, Bucharest
Abstract :
The paper describes a holonic control solution for fault-tolerant job shop assembly with networked robots, based on the dynamic simulation of material processing and transportation. The designed holarchy considers the PROSA reference architecture, and was implemented by help of an object oriented step scheduler (off-line production planning, failure- and recovery management, and online production tracking) and OPC-based real-time PLC software integration (execution of order holons at batch level). Experimental results are reported as well as considerations about holarchy mapping on the computing architecture and future developments.
Keywords :
assembly planning; robotic assembly; OPC-based real-time PLC software integration; PROSA reference architecture; dynamic simulation; fault-tolerant job shop assembly; holonic robot control; material processing; networked robots; object oriented step scheduler; off-line production planning; online production tracking; Computer architecture; Fault tolerance; Job shop scheduling; Materials processing; Object oriented modeling; Processor scheduling; Production planning; Robot control; Robotic assembly; Transportation;
Conference_Titel :
Control and Automation, 2008 16th Mediterranean Conference on
Conference_Location :
Ajaccio
Print_ISBN :
978-1-4244-2504-4
Electronic_ISBN :
978-1-4244-2505-1
DOI :
10.1109/MED.2008.4602217
