ICA  Vol.3 No.2 , May 2012
Discrete Event Net Based Modeling and Control System Design for Real-Time Concurrent Control of Multiple Robot Systems
Author(s) Gen’ichi Yasuda*
ABSTRACT
This paper deals with control system design and implementation problems encountered in multiple robot systems. The methodology developed is depicted by a set of coordination mechanisms using hierarchical net structures and their accompanying rules. With the net models, the hierarchical and distributed control system is designed for an assembly task. Synchronization commands allow coordination of the movements of the robots. The net models make concurrency of the movements of the robots transparent to users. The net based machine controller executes robot motion control through the communication with the external robot controller using the command/response concept. Sensory signals indicating the change of state of robots are used to trigger or initiate tasks. Simultaneous movement of the robots is obtained by creating different background threads running in parallel under Windows OS. The multilevel hierarchical control system can be consistently constructed using net models.

Cite this paper
G. Yasuda, "Discrete Event Net Based Modeling and Control System Design for Real-Time Concurrent Control of Multiple Robot Systems," Intelligent Control and Automation, Vol. 3 No. 2, 2012, pp. 132-139. doi: 10.4236/ica.2012.32015.
References
[1]   T. Murata, N. Komoda, K. Matsumoto and K. Haruna, “A Petri Net Based Controller for Flexible and Maintainable Sequence Control and Its Application in Factory Automation,” IEEE Transactions on Industrial Electronics, Vol. 33, No. 1, 1986, pp. 1-8. doi:10.1109/TIE.1986.351700

[2]   R. Alur, J. Esposito, M. Kim, V. Kumar and I. Lee, “Formal Modeling and Analysis of Hybrid Systems—A Case Study in Multirobot Coordination,” Proceedings of the Wold Congress on Formal Methods in the Development of Computing Systems, Toulouse, September 20-24 1999, pp. 212-232.

[3]   D. J. Holding and J. S.Sagoo, “A Formal Approach to the Software Control of High-Speed Machinery,” In G. W. Irwin and P. J. Fleming, Eds., Transputers in Real-Time Control, Research Studies Press, Somerset, 1992, pp. 239-282.

[4]   P. J. Ramadge and W. M. Wonham, “Supervisory Control of a Class of Discrete Event Processes,” SIAM Journal on Control and Optimization, Vol. 25, No.1, 1987, pp. 206230. doi:10.1137/0325013

[5]   T. Murata, “Petri Nets: Properties, Analysis and Applications,” Proceedings of the IEEE, Vol. 77, No. 4, 1989, 541-580. doi:10.1109/5.24143

[6]   K. Hasegawa, K. Takahashi, R. Masuda and H. Ohno, “Proposal of Mark Flow Graph for Discrete System Control,” Transactions of the Society of Instrument and Control Engineers, Vol. 20, No. 2, 1984, 122-129.

[7]   G. Yasuda, “A Distributed Control and Communication Structure for Multiple Cooperating Robot Agents,” IFAC Artificial Intelligence in Real Time Control 2000, Budapest, 2-4 October 2000, pp. 283-288.

[8]   G. Yasuda, “An Object-Oriented Network Environment for Computer Vision Based Multirobot System Architectures,” Proceedings of 20th International Conference on Computers & Industrial Engineering, Kyongju, 6-9 October, 1996, pp. 1199-1202.

[9]   G. Yasuda, “Implementation of Hierarchical and Distributed Control for Discrete Event Robotic Manufacturing Systems,” Journal of Software Engineering and Applications, Vol.3, No.5, 2010, pp. 436-445. doi:10.4236/jsea.2010.35049

[10]   G. Yasuda and K. Tachibana, “A Parallel Distributed Control Architecture for Multiple Robot Systems Using a Network of Microcomputers,” Computers & Industrial Engineering, Vol. 27, No. 1-4, 1994, pp. 63-66. doi:10.1016/0360-8352(94)90238-0

[11]   G. Yasuda and K. Tachibana, “A Computer Network Based Control Architecture for Autonomous Distributed Multirobot Systems,” Computers & Industrial Engineering, Vol. 31, No. 3-4, 1996, pp.697-702. doi:10.1016/S0360-8352(96)00232-X

 
 
Top