Case study on human-free water heaters production for industry 4.0

This paper focuses on the design of an industrial cyber-physical system for workpieces production and processing using three articulated robots (Mitsubishi MELFA RV-3SDB, KUKA youBot and Kawasaki FS06N). These equipment is integrated within the control software center based on MATLAB. The main goal is to design unified system comprised of heterogeneous technical systems. The control strategy has three levels structure (orchestration, tactic and local levels). A range of issues addressed within the study covers spatial movements planning for articulated robots, navigation, computer vision, force control, sensory system.