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Objectives

PN-II-ID-PCE-2011-3-0641-Objectives

The scientific objectives covered in the project, will be treated in the topics below:

Theme 1: Control system for balancing the two conventional manufacturing systems (FESTO MPS504FMS and MPS502FMS) that share a resource (a workstation). Using mobile robots equipped with robotic manipulators to make completely reversible an assembly line / disassembly, that means a manufacturing line capable of doing both assembly and disassembly (Mechatronics Training Systems HERA);

Theme 2: Hybrid system designated to balance the two manufacturing systems for small (payload from 50 to 250 grams) and medium weight (payload from 250 grams to 1kg) tasks, served by mobile robots with two driving wheels (DW) and one or two steering wheels (SW): 2DW/1SW, (Pioneer 3-DX, PeopleBot, for small weight) and 2DW/2SW (PatrolBot, for medium weight), equipped with robotic manipulators with 5 degrees of freedom (Pioneer 5-DOF Arm, 5-DOF Premium and Affordable P-Series Robot Arm);

Theme 3: Hybrid system designated to balance the two manufacturing systems for heavy weight (payload from 1kg to 5 kg) tasks, mobile robots served: with two driving wheels and two steering wheels 2DW/2SW (PowerBot) and four-driving and steering wheels, 4DW/SW, (Seekur Robot) and equipped with robotic manipulators with 5 degrees of freedom (5-DOF Adept Robot Arm).

OB1)      Obtaining kinematics and dynamic models of mobile robots 2DW/1SW, 2DW/2SW and 4DW/SW, which are equipped with robotic manipulators and allow the transport of loads, small, medium and large (Themes: 1, 2, 3);

OB2)      a) Design of a tool, HPN, dedicated to hybrid systems modeling having RMSMRRM structure in order to model temporal components (Temporized Petri Nets-TPN) and the continuously variable (PN with constant speed), by extracting features of dynamic model of RMSMRRM; (Themes 1, 2, 3);

OB2 b) Design HPN hybrid model, according to the ordering system RMSMRRM (Themes: 1, 2, 3);

OB3)      a) Design supervisor system of RMSMRRM taking into account restrictions on the operation of mobile robots 2DW/1SW, 4DW/SW 2DW/2SW and treated as discrete event dynamic systems;

OB3 b) Design Supervisor RMSMRRM system restrictions on the operation of mobile robot systems 2DW/1SW, 4DW/SW 2DW/2SW and treated as discrete event systems and related restrictions generated by applying the techniques of balancing manufacturing lines (Themes 2, 3);

OB4)      a) Design Supervisor for driving an assembly line served by mobile robots equipped with robotic manipulators (RMSMRRM) to execute and disassembly (reversible line) (Themes 1, 2, 3);

OB4) b) sliding-mode control of mobile robots 2DW/1SW, 2DW/2SW, 4DW/SW required for tracking a given trajectory while avoiding obstacles and robustness to variable loads, external disturbances and parametric uncertainty model. Virtual pheromones and neuro-fuzzy control of mobile robots 2DW/1SW, 2DW/2SW, 4DW/SW will also be used (Themes 1, 2, 3);

OB5) a) Advanced control using virtual pheromones, neuro-fuzzy and sliding-mode techniques of hybrid RMSMRRM structure, the types of parts for manufacturing, small and medium weights, served by systems of mobile robots: 2DW/1SW (Pioneer 3–DX, PeopleBot) and 2DW/2SW (PatrolBot) equipped with robotic manipulators with five degrees of freedom (Pioneer 5-DOF Arm, 5-DOF Premium and Affordable P-Series Robot Arm) (Themes 2, 3);

OB5 b) Advanced control using virtual pheromones, neuro-fuzzy and  sliding-mode techniques of hybrid RMSMRRM structure, the types of parts for heavy manufacturing, systems served by mobile robots: the 2DW/2SW (PowerBot) and 4DW/SW (Seekur Robot) equipped with robotic manipulators with five degrees of freedom (5-DOF Adept Robot Arm), in order to balance the production flow (Themes 2, 3).