Application of the supervisory control theory in the project of a robot-centered, variable routed system controller

This paper aims to present the development of the controller of a manufacturing system based on the application of the Supervisory Control Theory, in particular an extension of such theory named Local Modular Control approach. The foundations of this work are a Supervisory Control Architecture and a Programmable Logic Controller (PLC) method of implementation of such architecture, both of these found in the literature. The manufacturing system is constituted by an industrial robot that plays the role of a transport system and three workstations. We show that applying formal methods of controller synthesis, as well as applying the referred PLC method of implementation makes easier to express the control specifications, to check out the systempsilas controlled behavior, and specially, to make the necessary modifications when the system has to be reconfigured.