Control of automatic robot with guided manipulator integrated into flexible manufacturing system using Hybrid Petri Nets

Abstract

An analysis of the transportation and handling systems used in assembly/disassembly flexible manufacturing line (A/D-FML) is presented in this paper. Based on the analysis, an approach of the modeling and control a new class of automatic guided vehicles (AGV) is presented, the automatic robot with guided manipulator (ARGM). We propose to use Hybrid Petri Nets (HPN) for modeling the ARGM tasks and for implementing the control strategy of A/D-FML in order to make complete reversible the assembly line, i. e., in order to execute full disassembly.