Modeling and Control an A/DT Served by an ACPS based on SCADA, Industry 4.0 and 5.0

Modeling, monitoring and control of a multilevel architecture for an assembly/disassembly technology (A/DT) assisted by an autonomous cyber-physical system (ACPS). The hardware architecture consists of six workstations (6-WS), A/D mechatronics line (A/DML) connected to an A/D flexible cell (A/DFC) equipped with a 6-DOF industrial robotic manipulator (IRM). ACPS has in its structure two driving wheels and one free wheel (2DW/1FW)-wheeled mobile robot (WMR) equipped with a 7-DOF robotic manipulator (RM). A mobile visual servoing system (MVSS) is mounted on the end effector of the RM. A/DT assembles two different workpieces (WP1 and WP2), while disassembly only covers products that do not meet the quality test and component recovery through ACPS. ACPS takes the components from the disassembly locations and stores them in the appropriate warehouses for reuse. Synchronized Petri nets (SPN), for assembly, and synchronized hybrid Petri nets (SHPN), for disassembly, are used for modeling and simulation. Discrete-time trajectory-tracking sliding-mode control (DT-TTSMC), for WMR displacement, inverse kinematic (IKC) for 7-DOF RM control, and image moments for MVSS positioning are used to control ACPS subsystems. The design of the A/DT served by ACPS, was subordinated to the concept of Digital twin, by integrating, interfacing and synchronizing the simulation results of the SPN and SHPN models, with real-time management in a supervisory control and data acquisition (SCADA) system located on a Remote PC (RPC). The design and real-time control of A/DT served by ACPS were made in the vision of Industry 4.0 and Industry 5.0.