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In the present paper, an event-driven supervisor controller of a robotic cell for palletizing is designed and implemented. The cell consists of an M-410iB/450 Fanuc Robotic Manipulator and three conveyor belts. The task of the Robotic Manipulator is to transfer the products from belt to belt. The cell is modeled using Discrete Event Systems. The sensors and actuators of the conveyor belts are connected to a Programmable Logic Controller and are studied using Input–Output (I/O) Discrete Event System models. The supervisor design is based on the Supervisory Control Theory. A modular supervisor control architecture is designed. Regarding robotic manipulators, a parametric supervisor is proposed to accomplish trajectory following. Also, a set of supervisors is proposed for the safe functionality of the gripper. Finally, for the coordination of the devices of the cell a set of supervisors is designed, based on corresponding regular languages that describe the desired behavior. The robotic cell control programming is implemented and simulated in the ROBOGUIDE Simulation Software.

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An Event-Driven Supervisory Control Design for a Robotic Cell in a Palletizing Process

  • 会议论文

  • 发表日期：

    2025年

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  • Nikolaos D. Kouvakas,
  • Fotis N. Koumboulis,
  • Dimitrios G. Fragkoulis,
  • Maria P. Tzamtzi,
  • Spiros Trikas

摘要

In the present paper, an event-driven supervisor controller of a robotic cell for palletizing is designed and implemented. The cell consists of an M-410iB/450 Fanuc Robotic Manipulator and three conveyor belts. The task of the Robotic Manipulator is to transfer the products from belt to belt. The cell is modeled using Discrete Event Systems. The sensors and actuators of the conveyor belts are connected to a Programmable Logic Controller and are studied using Input–Output (I/O) Discrete Event System models. The supervisor design is based on the Supervisory Control Theory. A modular supervisor control architecture is designed. Regarding robotic manipulators, a parametric supervisor is proposed to accomplish trajectory following. Also, a set of supervisors is proposed for the safe functionality of the gripper. Finally, for the coordination of the devices of the cell a set of supervisors is designed, based on corresponding regular languages that describe the desired behavior. The robotic cell control programming is implemented and simulated in the ROBOGUIDE Simulation Software.