Development of a robot Holon using an open modular controller

Jakob Schnell, Søren Andersen, Christian Sørensen, Gilad Langer

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    Holonic Manufacturing Systems (HMS) has during the last period presented itself as an advantageous theoretical foundation for the problems that arise in controlling agile manufacturing systems. Previous research, at the Department, has demonstrated how modern shop floor control systems can be developed based on standard architectures for cell-control supported by engineering concepts and enabling technologies. In continuation to this research new concepts and theories for shop floorcontrol are investigated. Ongoing research on HMS has resulted in development of the Holonic Multi-cell Control System (HoMuCS) architecture and methodology for implementing a HMS. This paper specifically reviews the development of a Robot Holon based on an open controller in the context of the HoMuCS architecture. The paper will describe the results and research work that was involved in developing a robot holon for a physical robot. The robot holon was implemented on an existing robot at the department which was upgraded by removing its native control system and replacing it with a new PC-based open controller. The development of the robot holon builds on the notion that a robot holon will be able to performboth processing tasks and material handling tasks. Based on that an attempt to draw up a robot-architecture in the HoMuCS that can easily be reconfigured for these types of tasks. The research results gave a further specification of the HoMuCS architecture by extending it with the special robot holon type.
    Original languageEnglish
    Title of host publicationProceedings of the International Conference on Control Applications (CCA)
    Place of PublicationHawaii, USA
    Publication date1999
    Publication statusPublished - 1999
    Event1999 IEEE International Conference on Control Applications - Hawaii, HI, United States
    Duration: 22 Aug 199927 Aug 1999


    Conference1999 IEEE International Conference on Control Applications
    Country/TerritoryUnited States
    CityHawaii, HI
    Internet address

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