Automatic Generation of Controllers for Collision-Free Flexible Manufacturing Systems
Paper i proceeding, 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


Manipulator motion-planning


Flexible manufacturing systems


Mohammad Reza Shoaei

Signaler och system, System- och reglerteknik, Automation

Bengt Lennartson

Signaler och system, System- och reglerteknik, Automation

Sajed Miremadi

Signaler och system, System- och reglerteknik, Automation

6th annual IEEE International Conference on Automation Science and Engineering

368-373 5584539


Produktionsteknik, arbetsvetenskap och ergonomi