Distributed control of industrial robot systems using multithreads

Abstract

The methods of modeling and control of robotic manufacturing systems are investigated to realize hierarchical and distributed control. Based on task specification, a conceptual net model is transformed into the detailed net model, then decomposed into constituent local net based controller tasks. The local controllers are coordinated by the coordinator through communication between the coordinator and the controllers. Simulation and implementation of the control system are described. By the proposed method, modeling, simulation and control of large and complex manufacturing systems can be performed consistently.