Development of a robot Holon using an open modular controller

Jakob Schnell, Søren Andersen, Christian Sørensen, Gilad Langer

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    Abstract

    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
    PublisherIEEE
    Publication date1999
    Pages1642-1647
    DOIs
    Publication statusPublished - 1999
    Event1999 IEEE International Conference on Control Applications - Hawaii, HI, United States
    Duration: 22 Aug 199927 Aug 1999
    http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=6503

    Conference

    Conference1999 IEEE International Conference on Control Applications
    CountryUnited States
    CityHawaii, HI
    Period22/08/199927/08/1999
    Internet address

    Bibliographical note

    Copyright 1999 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

    Cite this

    Schnell, J., Andersen, S., Sørensen, C., & Langer, G. (1999). Development of a robot Holon using an open modular controller. In Proceedings of the International Conference on Control Applications (CCA) (pp. 1642-1647). IEEE. https://doi.org/10.1109/CCA.1999.801218