DESIGN AND REALIZATION OF A MULTI-ROBOT MANUFACTURING SYSTEM

This paper presents a flexible manufacturing system including multiple robotic units:an automated guided vehicle (AGV),two manipulators,a warehouse and a conveyer.The system adopts a hierarchically decentralized architecture.Every working unit has its own controller,and it communicates with the host computer through serial interface.Focusing on the coordination and synchronization of the whole system,an FSM (finite state machine) is used for modeling the task,and based on the FSM method,an event based coordinating control strategy is provided for improving flexibility and robustness of the system.The experiment results show the feasibility and effectiveness of the design.