Model-based workcell task planning and control

Witold Jacak, Jerzy Rozenblit

Research output: Contribution to journalArticlepeer-review

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 languageEnglish (US)
Pages (from-to)167-180
Number of pages14
JournalTransactions of the Society for Computer Simulation
Volume15
Issue number4
StatePublished - Dec 1 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

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