Holonic robot control for job shop assembly by dynamic simulation

The paper describes a holonic control solution for fault-tolerant job shop assembly with networked robots, based on the dynamic simulation of material processing and transportation. The designed holarchy considers the PROSA reference architecture, and was implemented by help of an object oriented step scheduler (off-line production planning, failure- and recovery management, and online production tracking) and OPC-based real-time PLC software integration (execution of order holons at batch level). Experimental results are reported as well as considerations about holarchy mapping on the computing architecture and future developments.