摘要
本文构建了一个包含多个机器人和自动化物流单元的柔性制造系统 ,其中机器人部分包括一个自动导引小车和两台装配机器人 ,物流单元部分包括一个小型立体仓库和一条自动传输线 .系统采用递阶分散式的体系结构 ,每个作业单元均有独立的控制器 ,并通过串行接口实现与主控计算机的实时通讯 .在对系统作业任务进行有限状态机建模的基础上 ,采用基于事件的控制思想实现了多个作业单元的协调控制 ,提高了系统的柔性和鲁棒性 ,实验结果也证明了系统设计的有效性 .
This paper presents a flexible manufacturing system including multiple robotic units: an automated guided vehicle (AGV), two manipulators, a warehouse and a conveyer. The system adopts a hierarchically decentralized architecture. Every working unit has its own controller, and it communicates with the host computer through serial interface. Focusing on the coordination and synchronization of the whole system, an FSM (finite state machine) is used for modeling the task, and based on the FSM method, an event based coordinating control strategy is provided for improving flexibility and robustness of the system. The experiment results show the feasibility and effectiveness of the design.
出处
《机器人》
EI
CSCD
北大核心
2003年第5期385-389,共5页
Robot
基金
国家 8 6 3计划机器人技术主题资助 (2 0 0 1AA4 2 2 1 4 0 )
国家自然科学基金资助 (6 0 1 0 5 0 0 5 )
