SHPN models based simulation and control of mobile robotic systems integrated into A/DML

Purpose of this paper is to model, simulate and control wheeled mobile robotic systems integrated into an assembly mechatronics line for making it reversible, i.e. have the capacity to deal disassembly using mobile platforms equipped with a manipulator. For this purpose, synchronised hybrid Petri nets (SHPN) models will be used to simulate and control an assembly/disassembly (A/D) mechatronics line (A/DML), with a fixed number of workstations. Two cases are presented: to the first one, A/DML is served by a wheeled mobile robots (WMR) equipped with robotic manipulator (RM). To the second case, A/DML is served by two WMRs, collaborative or parallel working. The SHPN models are hybrid type, where A/DML is the discrete part, and WMRs are the continuous part. Moreover, the model operates in synchronised mode with signals from sensors. Disassembly starts after the assembly process and if the assembled piece fails the quality test, to recover disassembled parts. The WMRs are used only during disassembly, to transport parts from the disassembling locations to the storage locations.