Hybrid model based control of a mechatronics line served by mobile robot with manipulator

This paper presents the model and control structure of an assembly/disassembly mechatronics line (A/DML) served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM). The model is a hybrid type, where A/DML is the discrete part and WMR with RM is the continuous part. Moreover, the model operates as a synchronized with signals from sensors. Thus, using Petri Nets (PN) in modeling, get a Synchronized Hybrid Petri Nets (SHPN). The disassembly process starts after the assembly process and final piece fails the quality test, in order to recover the components. The WMR equipped with RM is used only in disassembling process, in order to transport the components from the disassembling locations to the storage locations. Thus, the A/DML becomes reversible. Using a LabView platform and SHPN model, a real-time control structure is implemented.