ホロニック組立システムの開発（第1報）

—システムアーキテクチャと組立作業の実現—

抄録

In this paper, a flexible robotic assembly system with decentralized architecture is studied. The system is designed to achieve high flexibility including reconfigurability so that it can adapt to changes in its manufacturing environment. The system consists of autonomous agents, “holons”; each of assembly devices is controlled by its own holon, “execution holon” and each of assembly and hand-over operations is handled by a holon, “operation holon.” Operation holons are dynamically created and destroyed to execute assembly tasks. When an assembly task is launched in the system, the task is decomposed recursively into primitive operations, which are allocated to assembly devices in real time by inter-holon negotiation. The performance of this task allocation mechanism is validated in simulation. Experimental results on an actual assembly system are also presented.