ACTIVITY CONTROLLER FOR A MULTIPLE ROBOT ASSEMBLY CELL

摘要

The research addresses the problems of the Activity Controller for a Multiple Robot Assembly Cell. It includes analysis and development of planning and control algorithms for operation of multi-robot assembly systems. The problem defined for the Activity Controller is which robot is to perform which operations; how, in terms of spatial routes and accessories; and when, in terms of timing and synchronization, in order to effectively achieve certain task objectives (e.g., minimize makespan time). General algorithms for the Activity Controller are presented emphasizing the real time operational control. Experimental work serves as a concept proof by designing and implementing the control algorithms on a computer controlled system. The system was used to simultaneously operate two robots that share tasks and auxiliary devices. The research is concluded with a scheme for evaluating the potential advantages of multi-robot assembly cell under an Activity Controller.