Remote Control of a Flexible Robotic Cell as a Cyber Physical System for Assembly and Disassembly Based on SCADA and Industry 4.0

This paper aims to design a remote-controlled Flexible Robotic Cell (FRC) equipped with an ABB 120 industrial robotic manipulator (IRM) as Cyber Physical System (CPS) for assembly and disassembly (A/D) of two workpieces (WP1, WP2) with 5 parts each, based on SCADA and Industry 4.0 concepts. CPS involves integrating various digital devices, connected in a local array network (LAN) and Internet for enhanced automation, connectivity, and intelligence, The digital devices are: PLC, 3D cameras, video processing unit (VPU), powerful, embedded computer, Wi Fi router, remote and local Human Machine Interface (HMI), ethernet switch, servo drive and IoT, the last one being an edge device that allows remote connection via VPN. Synchronized timed Petri nets (STPN), for assembly and disassembly, are used for modeling and simulation. The design of CPS was subordinated to the concept of “Digital Twin”, by integrating, and synchronizing task planning and the simulation results of the STPN models, with real-time control in a supervisory control and data acquisition (SCADA) system connected remotely.