Hybrid modelling based control of an processing/reprocessing mechatronics line served by an autonomous robotic system

The new idea in this paper is to make a processing line capable of reprocessing pieces that have not passed the quality test. The focus is to provide a model of the processing line and to introduce in the process a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM) in order to transport pieces, for reprocessing. For this purpose, an processing/reprocessing mechatronics line (P/RML) and a timed hybrid Petri nets (THPN) model will be used in modeling and control of the mechatronics line, with a fixed number of workstations, served by a WMR equipped with (RM). The THPN model is a hybrid type, where P/RML is the discrete part and WMR with RM is the continuous part. The reprocessing starts after the piece fails the quality test. The WMR with RM is used only at the start of reprocessing, in order to transport the pieces from the warehouse to the beginning of the processing line.