機械手臂製造單元的遠端控制設計與實作

Abstract

本文提出對機械手臂製造單元遠端控制的設計與實作方法。在設計階 段，首先用架構轉換法分析機械手臂製造單元的行為，再轉換成裴氏圖， 進而得到可達圖。其次利用圖論中的符號矩陣去找出可達圖的所有循環； 然後由各個循環中獲得時間函數，再由這些時間函數中找出最佳解。在實 作階段，以即時型專家系統中的法則式監控器來實作每一個循環；用派工 器決定採用那一種循環。本控制系統和機械手臂製造單元是透過網際網路 來連結並傳送控制資料。例如使用者可在台北世貿中心控制位於新竹的機 械手臂製造單元，其距離大約相隔八十公里。由實驗的量測數據可看出這 個新方法顯示出良好的成效。 A new design and implementation method is proposed for the remote control ofrobotic manufacturing cell. At the design phase, this method is to specify thebehavior of robotic manufacturing cell using Hierarchy Transformation Method (HTM). Second, a Petri net generated from HTM is transformed into a reachability graph. Third, symbol matrix in graph theory is used to find all the cycles from the reachability graph. Fourth, a timing formula is derived from each cycle. Fifth, a decision making process is designed with respect to all timing formulas in order to find the optimal solution. At the implementation phase, eachcycle is implemented as a rule-based supervisor on a real-time expert system, and the decision making process is implemented as a dispatcher. For the given machine processing times, the dispatcher assigns a supervisor to control the movement of robot. The control system and the robotic manufacturing cell is connected through Internet. For example, the robotic manufacturing cell at Hsinchu can be controlled by computer terminals at Taipei World Trade Center with a distance about 80 kilometers. The measured data show an excellent performance of this new approach.