Automatic Generation of Controllers for Collision-Free Flexible Manufacturing Systems
Paper in proceedings, 2010

A method for automatic generation of non-blocking controllers that generate collision-free flexible manufacturing cells is presented in this paper. Today, industry demands on flexible production sometimes require significant changes in location, orientation and configuration of industrial robots and other moving devices, when new products are introduced. All these changes pose a threat to the devices to collide while sharing workspace. To avoid this, a formal model of the operations in a manufacturing system is generated, and for each operation state a corresponding 3D simulation shape is created. A collision-free system is then achieved by considering pairs of colliding shapes as forbidden states. The automatic generation also includes a synthesis procedure, where a non-blocking and controllable supervisor is generated based on guard generation. The guards are computed by binary decision diagrams, which means that complex systems can be handled, still generating comprehensible restrictions that are easily included in PLC-code.

Supervisory control

Discrete event systems

Simulation

Manipulator motion-planning

Verification

Flexible manufacturing systems

Author

Mohammad Reza Shoaei

Chalmers, Signals and Systems, Systems and control, Automation

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control, Automation

Sajed Miremadi

Chalmers, Signals and Systems, Systems and control, Automation

6th annual IEEE International Conference on Automation Science and Engineering

368-373 5584539

Subject Categories

Production Engineering, Human Work Science and Ergonomics

Control Engineering

Areas of Advance

Production

DOI

10.1109/COASE.2010.5584539

ISBN

978-142445447-1

More information

Created

10/6/2017