Complex Autonomous System Assisting a Manufacturing Technology on a Mechatronics Line. A Digital Twin Approach

Abstract

The main contribution of this paper is to present the implementation of an assisting technology digital twin based for a processing/reprocessing mechatronics line (P/RML). The implemented technology allows the reprocessing of the workpieces which do not pass the quality test. The digital twin approach considers the P/RML equipped with a complex autonomous system (CAS). The CAS is an autonomous robotic system (ARS) with a robotic manipulator (RM) equipped with a mobile visual servoing system (MVS) used for precise positioning in the technology executed on the laboratory mechatronics line. Modeling and control for the P/RML with CAS are presented. The P/RML has four workstations. The assisting technology uses the complex autonomous system (CAS). The MVS is involved in picking, transporting, and placing processes of the workpieces and it aims at increasing the precision of the RM operations. The reprocessing feature of the system is performed for the processed pieces that do not pass the quality test. To be reprocessed these workpieces are transferred by the CAS to the first station. The control of this complex process is presented. For this flexible manufacturing process, a digital twin control is designed.