CAS and IRM Integrated into a Multifunctional Flexible Manufacturing Technology on an A/D/RML

The aim of this paper is to model, control and implement an assisting technology for a flexible assembly, disassembly and repair on a mechatronic line (A/D/RML), using autonomous robotic system (ARS), two robotic manipulators (RMs) and visual servoing system (VSS).The A/D/RML consists of 6-work stations (WS) mechatronics line (ML) connected to a flexible cell (FC) equipped with a 6-DOF ABB IRM industrial robotic manipulator (IRM) and a Complex Autonomous System (CAS)-used for manipulation and transport. The structure of the CAS consists of 2DW/1FW wheeled mobile robot (WMR) equipped with a 7-DOF robotic manipulator (RM). Sliding mode control (TTSMC) is used to control WMR. On the end effector of the RM, a mobile (eye in hand) visual servoing system (VSS) is mounted, used for precise positioning of RMs - to catch and release the workpiece. If the workpiece does not pass the quality test, the process handles it by transporting back from the storage unit to the flexible cell (FC) where it will be considered for reprocessing - repair or disassembling with recovery of replacement parts. The recovered or replaced components are taken over by the CAS from disassembling location and transported to the appropriate storage depots, to be reused in the further assembly processes. Technology operates synchronously with signals from sensors and from VSS “eye in hand” camera, located at the end effector of the RM. A hybrid PLC architecture is used-consists of 2 PLC controlled subsystems/ modules with specific tasks for all the manufacturing stages features both a decentralized, distributed architecture and a centralized architecture