Hybrid Control Application Using Mobile Visual Servoing for Flexible Manufacturing Mechatronics Line

摘要

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.