Synchronization of Heterogeneous Multi-Robotic Cell with Emphasis on Low Computing Power

Abstract

This paper presents a time-synchronization solution for operations performed by a heterogeneous set of robotic manipulators grouped into a production cell. The cell control is realized using master–slave architecture without an external control element. Information transmission in a cell is provided by a TCP/IP channel in which communication is ensured via sockets. The proposed problem solution includes an algorithm, which is verified and validated by simulation and tested in real environment. This algorithm requires minimal computational power thanks to an empirically oriented approach, which enables its processing directly by the control unit of each participating element of the robotic cell. The algorithm works on the basis of monitoring and evaluating time differences among sub-operations of master and slave devices. This ensures defined production cycle milestones of each robotic manipulator in the cell at the same time are attained. Dynamic speed adaptation of slave manipulators utilizing standard instructions of their native language is used. The proposed algorithm also includes a feedforward form of operations synchronization which responds to changes in the operating cycle of the master manipulator. The application of the solution proposal is supplemented with a visualization part. This part represents a complementary form of designed solution implementation.

Gestão de projeto utilizando indicador-chave de desempenho (KPI) na simulação virtual do desenvolvimento de uma célula robotizada atuando em processos automotivos

“…Uma célula robotizada pode ser considerada como sendo um conjunto de máquinas que são organizadas dentro de um espaço automatizado no qual um ou mais robôs são instalados para maximizar, acelerar e simplificar um módulo de produção completo e atingir altos níveis de repetitividade da qualidade do produto. Portanto, o motivo da implantação de Células Robotizadas pelo gestor está diretamente relacionado a produção automatizada que atuam na produção oferecendo as seguintes condições para a produção: a) melhor aproveitamento da matéria-prima; b) redução de perdas; c) economia de energia; d) redução do tempo de produção; e) eliminação de atividades perigosas ou insalubres; f) realização de atividades complexas (Juhás & Juhásová, 2020).…”

Special Issue on Multi-Robot Systems: Challenges, Trends, and Applications

“…Martin Juhás and Bohuslava Juhásová [4] address other relevant challenges for MRSs, which are communications and coordination. Their paper presents a time-synchronization solution for operations performed by a heterogeneous set of robotic manipulators grouped into a production cell.…”