Modelling, Simulation and Operation of Multi-Robot Controls on Basis of the SBC Framework ASIM STS/GMMS Fachtagung, Heilbronn, March 8th-9th 2018 Birger Freymann, Christina Deatcu, Thorsten Pawletta Hochschule Wismar - University of Applied Sciences: Technology, Business and Design Research Group Computational Engineering and Automation (CEA); www.cea-wismar.de Contact:
[email protected]
Acceptor Application Assembly Language Computer Aided Design Computer Aided Robotics Control Model Cyber Physical System Control Software Discrete Event System Specification Execution Control Experimental Frame Environment Execution Unit Flatted Pruned Entity Structure Generator Interface Model KUKA Robotic Language
MB MRS MUS OC PDEVS PES PM RCP RCV SBC SES SM SRS SW TBX TOC Tra
Model Base Multi Robot System Model Under Study Overall Control Parallel DEVS Pruned Entity Structure Process Model Rapid Control Prototyping Robotic Control and Visualisation Simulation Based Control System Entity Structure Simulation Model Single Robot System Software Toolbox Task Oriented Control Transducer
TOC
CSSBC
task description
env
transformation method
Design
Automation
Input Buffer
Explicite Codegeneration
USER
ABB-Robotics ROBOT
Integrated SW Environment
R2 R1
R2
MRS Class 3 As for Class 2, but the robots share a common workspace. To avoid collisions the robots have to coordinate their motions. Therefore, the degree of interaction is increased compared with Classes 1 & 2.
R2 Class 4
R1
ROBOTIC CONTROL & VISUALIZATION (RCV) TBX
MRS Class 4 As for Class 3, but another type of part leads to a stronger interaction. The new type can only be moved by the two robots together. Thus, the degree of interaction is increased compared to Class 3.
R2
RCV
Tbx
R2 R1
MAIN FEATURES: vendor independent control instruction set Computer Aided Robotic (CAR) system with CAD support usage with additional low-cost hardware possible (webcam, tara, ...)
Virtual ROBOT
Visualization Interpreter
...
Visualization Interpreter
ABB-Robotics ROBOT
RAPID Interpreter
Visualization Interpreter
AS Interpreter
Visualization Interpreter
KRL Interpreter
KAWASAKI ROBOT
!
Rn
Class 6
Robotic Control & Visualization Tbx.
KUKA ROBOT
Class 5
R1
MATLAB
M
MRS Class 2 As for Class 1, supplemented by a new type of part, which requires the exchange of one robot tool. Regarding the interaction there is no change compared to Class 1. The robots still solve one problem and have separate workspaces. Therefore, Class 1 and Class 2 have the same degree of interaction.
R1
USER
G
MRS Class 1 An MRS consisting of two robots (R1, R2) with separate workspaces. Both robots have identical tools. No exchange of information between the robots is required. The interaction refers to the collective solution of a problem by two or more robots.
Class 3
RAPID
PC-Roset
AS
KRL
Kuka.Sim
KAWASAKI ROBOT
Robot.Studio
KUKA ROBOT
M
R1
Class 2
Implicite Codegeneration - Software in the Loop
M
SRS Class 0 One type of part has to be transported by an SRS. The robot’s tool is adapted to the part. The task is completed when all parts have been transported from the Input Buffer to the Output Buffer. There is no interaction.
Class 1
Integrated SW Environment
Interaction
MRS:
exec Code
G
R1 Class 0
Action
exec Code
SW Tool n
M
PlacePart
Output Buffer
SRS:
...
PickPart
MULTI-ROBOT SYTEMS (MRS) CLASSIFICATION
Operation
Time + Requirements
SW Tool 2
Transport
interface to process components RCV
real process
real process
EXAMPLE:
component mapping & task tranformation TOC+RCV
PM
interface
RAPID CONTROL PROTOTYPING (RCP)
CS
CM
IM
CONTROL SOFTWARE (CS) FOR MULTI ROBOT APP
SW Tool 1
task based description of problem TOC
decomposition
Acc APP AS CAD CAR CM CPS CS DEVS EC EF ENV EU FPES Gen IM KRL
TASK-ORIENTED CONTROL (TOC) WITHIN SBC
composition
USED ABBREVIATIONS
R2
R2'
MRS Class 5 One robot supports the other one, even if the tool is not ideal for this purpose. This form of interaction is used to compensate for the overload of one robot by irregular arrival of parts. MRS Class 6 A new type of part which cannot be handled by the robot team requires the replacement of a robot or the tool. Interaction refers to the modification of team members.
SYSTEM ENTITY STRUCTURE / MODEL BASE (SES/MB) s1
SES
s2
SES
set of different system variants
s3
s0
Tbx
z
Resolving all Variabilities
(F)PES
PES
MB
hierarchical system structure
SIMULATION BASED CONTROL (SBC) complexity
CS
e
+
Model Translator
k
a
CS
f bcd
g h i
Executable Model
CM
SM
SM
a
CM
PM
FPES
PM
IM
a b c d e f g h i k
c b
d
e Model
interface
step-wise refinement
automation
planning
real process
REACTIVE CONTROL FOR MULTI-ROBOT APP
operation ... other Hardware ... other Software
phase
MATLAB DEVS TOOLBOX & PDEVSRCP
Overall Control (OC)
SES/MB Framework
MB
SES
DEVS
s0
Tbx
MUS CM
SES Variables build options
s1
EF Gen
Tsk
G1
pruning
PM
PES
IM MB
Tra
PMR
Acc
IMR
T1
A1
build SM
s2
transmit
SM
Gen
Execution Unit (EU) transmit
MUSi
s3
CPS
CPS
energy material
Interface
results
PDEVSRCP PDEVS
planning
automation
CM
Tra
PM
EFj
IM Interface
Acc
results
step-wise refinement
PDEVSRCP
MUSi
simulator SM
information
EFj
operation
overall results
1 _ s
The Experimental Frame (EF) is an objectives-driven methodology, introduced by Zeigler. It describes the conditions under which a system is observed. An EF contains an Generator (Gen), a Transducer (Tra) and an Acceptor (Acc).
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