A. Filipescu, D. Cernega, E. Minca, R. Șolea, D. Ionescu, Georgian Simion, A. Filipescu
{"title":"集成移动机器人系统的机电一体化生产线的数字孪生","authors":"A. Filipescu, D. Cernega, E. Minca, R. Șolea, D. Ionescu, Georgian Simion, A. Filipescu","doi":"10.1109/ICSTCC55426.2022.9931782","DOIUrl":null,"url":null,"abstract":"The paper presents digital twin multi-functional technology for flexible production on an assembly, disassembly and repair (A/D/RML) mechatronics line assisted by a complex autonomous system (CAS). The real world consists of A/D/RML a mechatronic line (ML) with six workstations (WS) connected to a flexible cell (FC) equipped with an industrial robotic manipulator (IRM). The multifunctionality of the system is given by the three actions, assembly, disassembly and repair (the flexibility is due to the assembly of different types of products). After disassembly or repair, CAS picks up and transports the disassembled components to the appropriate storage positions for reuse. The technology works synchronously with signals from various sensors and a mobile visual servo system (VSS eye-in-hand). The virtual representation serving as a digital counterpart consists of task assignment, scheduling and A/D/RML synchronisation with integrated robotic systems. The virtual world also includes hybrid modeling and simulation with synchronized hybrid Petri nets (SHPN), VSS eye-in-hand modeling and implementation, simulation in MobileSim and graphical user interface (GUI) for real-time control monitoring, so that the whole system becomes fully automated.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Digital Twin for a Mechatronics Line with Integrated Mobile Robotic Systems\",\"authors\":\"A. Filipescu, D. Cernega, E. Minca, R. Șolea, D. Ionescu, Georgian Simion, A. Filipescu\",\"doi\":\"10.1109/ICSTCC55426.2022.9931782\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents digital twin multi-functional technology for flexible production on an assembly, disassembly and repair (A/D/RML) mechatronics line assisted by a complex autonomous system (CAS). The real world consists of A/D/RML a mechatronic line (ML) with six workstations (WS) connected to a flexible cell (FC) equipped with an industrial robotic manipulator (IRM). The multifunctionality of the system is given by the three actions, assembly, disassembly and repair (the flexibility is due to the assembly of different types of products). After disassembly or repair, CAS picks up and transports the disassembled components to the appropriate storage positions for reuse. The technology works synchronously with signals from various sensors and a mobile visual servo system (VSS eye-in-hand). The virtual representation serving as a digital counterpart consists of task assignment, scheduling and A/D/RML synchronisation with integrated robotic systems. The virtual world also includes hybrid modeling and simulation with synchronized hybrid Petri nets (SHPN), VSS eye-in-hand modeling and implementation, simulation in MobileSim and graphical user interface (GUI) for real-time control monitoring, so that the whole system becomes fully automated.\",\"PeriodicalId\":220845,\"journal\":{\"name\":\"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)\",\"volume\":\"46 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-10-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSTCC55426.2022.9931782\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSTCC55426.2022.9931782","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Digital Twin for a Mechatronics Line with Integrated Mobile Robotic Systems
The paper presents digital twin multi-functional technology for flexible production on an assembly, disassembly and repair (A/D/RML) mechatronics line assisted by a complex autonomous system (CAS). The real world consists of A/D/RML a mechatronic line (ML) with six workstations (WS) connected to a flexible cell (FC) equipped with an industrial robotic manipulator (IRM). The multifunctionality of the system is given by the three actions, assembly, disassembly and repair (the flexibility is due to the assembly of different types of products). After disassembly or repair, CAS picks up and transports the disassembled components to the appropriate storage positions for reuse. The technology works synchronously with signals from various sensors and a mobile visual servo system (VSS eye-in-hand). The virtual representation serving as a digital counterpart consists of task assignment, scheduling and A/D/RML synchronisation with integrated robotic systems. The virtual world also includes hybrid modeling and simulation with synchronized hybrid Petri nets (SHPN), VSS eye-in-hand modeling and implementation, simulation in MobileSim and graphical user interface (GUI) for real-time control monitoring, so that the whole system becomes fully automated.