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Adaptive Assembly Feature Based Function Block Control of Robotic Assembly Operations
2012 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Many manufacturing systems are exposed to a variety of unforeseen changes, negatively restricting their performances. External variations depending on market demand (e.g. changes in design, quantity and product mix) and internal variations in production capability and flexibility (e.g. equipment breakdowns, missing/worn/broken tools, delays and express orders) all contribute to an environment of uncertainty. In these dynamically changing environments, adaptability is a key feature for manufacturing systems to be able to perform at a maximum level, while keeping unscheduled downtime to a minimum. Targeting manufacturing equipment adaptability, this paper reports an assembly feature (AF) based approach for robotic assembly, using IEC 61499 compliant Function Blocks (FBs). Through the use of a network of event-driven FBs, an adaptive controller system for an industrial gantry robot’s assembly operations has been designed, implemented and tested. Basic assembly operations have been mapped as AFs into Assembly Feature Function Blocks (AF-FBs). Through their combination in FB networks, they can be aggregated to perform higher level assembly tasks. The AF-FBs dynamic execution and behavior can be adaptively controlled through embedded eventdriven algorithms, enabling the ability of adaptive decisions to handle unforeseen changes in the runtime environment.

Place, publisher, year, edition, pages
2012. Vol. 1, p. 8-13
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-205955OAI: oai:DiVA.org:kth-205955DiVA, id: diva2:1090866
Conference
Proceedings of the 13th Mechatronics Forum Biennial International Conference
Note

QCR 20170503

Available from: 2017-04-25 Created: 2017-04-25 Last updated: 2017-05-03Bibliographically approved

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Wang, Lihui

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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Language
  • de-DE
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  • en-US
  • fi-FI
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  • nn-NB
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  • Other locale
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Output format
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  • text
  • asciidoc
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