Abstract
A framework for the design of a model-based control system for flexible manufacturing is presented in this paper. The system consists of three basic layers: the Task Planning, the Task-Level Programming, and the Simulation layer. Task planning is based on the description of operations and their precedence relation. The resulting fundamental plan describes the decomposition of a manufacturing task into an ordered sequence of robot actions. The implementation of the plan is carried out using a task-level programming approach in which the detailed paths and trajectories, gross and fine motion, grasping, and sensing instructions, are specified. Plan sequences are verified by using a simulation modeling approach based on hierarchical, modular discrete-event system specifications.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 167-180 |
| Number of pages | 14 |
| Journal | Transactions of the Society for Computer Simulation |
| Volume | 15 |
| Issue number | 4 |
| State | Published - 1998 |
Keywords
- Discrete-event simulation
- Flexible manufacturing
- Hierarchical control
- Task planning
ASJC Scopus subject areas
- Software
- Modeling and Simulation
- Computer Science Applications
- Computer Graphics and Computer-Aided Design
- Computational Theory and Mathematics