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首页> 外文会议>International Conference on System Theory, Control and Computing >Hybrid Control Application Using Mobile Visual Servoing for Flexible Manufacturing Mechatronics Line
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Hybrid Control Application Using Mobile Visual Servoing for Flexible Manufacturing Mechatronics Line

机译：移动视觉伺服在柔性制造机电一体化生产线上的混合控制应用

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The aim of this paper is to present a real time control application to ensure the reusing/reprocessing capability of the non-compliant parts in an Assembly/Disassembly Mechatronics Line (A/DML). The novelty of this paper consists in the use of a Mobile Visual Servoing Application in order to guarantee the correct handling of the reused/reprocessed parts. These parts are the result of the disassembly station and there are taken by a mobile robot equipped with a 7DOF manipulator without having any apriori information concerning the position and orientation of the parts. In order to perform this task, the Wheeled Mobile Robot (WMR) is synchronized with the A/DML. The manufacturing lines served by mobile robots have hybrid characteristics, consisting of continuous dynamic behaviors (mobile robots) and discrete event behaviors (A/DML). Real-time control application is designed and implemented allowing automated processing and reprocessing of a production volume. The solution is validated using the real time implementation of the designed architecture for the hybrid system consisting of the Assembly/Disassembly Mechatronics Line (A/DML), with fixed number of workstations, HERA Horstmann completed with a disassembly workstation, served by Wheeled Mobile Robot (WMR), People Bot equipped with a 7DOF Robotic Manipulator (RM) with mobile visual servoing system.
机译：本文的目的是提出一种实时控制应用程序，以确保组装/拆卸机电一体化生产线（A / DML）中不合格零件的重用/后处理能力。本文的新颖之处在于使用了移动视觉伺服应用程序，以确保正确处理重用/再加工的零件。这些零件是拆卸站的结果，由配备有7DOF机械手的移动机器人取走，而没有关于零件位置和方向的任何先验信息。为了执行此任务，将轮式移动机器人（WMR）与A / DML同步。移动机器人服务的生产线具有混合特性，包括连续动态行为（移动机器人）和离散事件行为（A / DML）。实时控制应用程序的设计和实现允许对生产量进行自动处理和再处理。该解决方案使用混合系统设计架构的实时实现进行了验证，该混合系统由组装/拆卸机电一体化生产线（A / DML）和固定数量的工作站组成，HERA Horstmann配有拆卸工作站，由轮式移动机器人提供服务（WMR），People Bot配备了带有移动视觉伺服系统的7自由度机器人（RM）。

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