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Automata-based modeling and control synthesis for manufacturing workcells with part-routing flexibility

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3 Author(s)
A. Ramirez-Serrano ; Dept. of Syst. Eng., ABB Corp. Res., Vasteras, Sweden ; C. Sriskandarajah ; B. Benhabib

The utilization of flexible manufacturing workcells (FMCs) to produce families of parts in many possible orders of operations and choices of different machines is advantageous. The modeling and control of such discrete-event systems (DESs) have generally been performed in a hierarchical structure. Despite intensive research on the theoretical control of DESs, however, current techniques such as controlled automata can still primarily be used for the supervisory control of simple cells. In the paper, a modeling and control synthesis technique is presented for FMCs that allow part-routing flexibility. The proposed methodology combines extended Moore automata (EMA) and controlled-automata theories to synthesize supervisors for such FMCs. EMA-based supervisors have the capability to read (receive) multiple pieces of information regarding the behavior of the FMC. Based on this information they can explicitly generate control commands issued to cell devices. In order to significantly reduce the state-space of EMA-based supervisors without affecting the behavior enforced on the (controlled) FMC, a minimization procedure is also outlined

Published in:

IEEE Transactions on Robotics and Automation  (Volume:16 ,  Issue: 6 )