Model-based workcell task planning and control

Witold Jacak, Jerzy W Rozenblit

Research output: Contribution to journalArticle

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 - 1998

Fingerprint

Planning
Model-based
Discrete event simulation
Programming
Flexible Manufacturing
Model-based Control
Grasping
Discrete Event Systems
Trajectories
Simulation Modeling
Robots
Decomposition
Specifications
Gross
Control systems
Computer simulation
Sensing
Manufacturing
Robot
Control System

Keywords

  • Discrete-event simulation
  • Flexible manufacturing
  • Hierarchical control
  • Task planning

ASJC Scopus subject areas

  • Computer Science Applications
  • Computational Theory and Mathematics
  • Computer Graphics and Computer-Aided Design
  • Software
  • Modeling and Simulation

Cite this

Model-based workcell task planning and control. / Jacak, Witold; Rozenblit, Jerzy W.

In: Transactions of the Society for Computer Simulation, Vol. 15, No. 4, 1998, p. 167-180.

Research output: Contribution to journalArticle

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