TY  - SER
AU  - Jang, Jaejin
AU  - Koo, Pyung-Hoi
AU  - Nol, Shimon Y.
TI  - Application of design and control tools in a multirobot cell
KW  - DESIGN TOOLS
KW  - CONTROL TOOLS
KW  - MULTIROBOT CELL
N1  - This paper describes how the theory of automated manufacturing cell and industrial robotics has been applied to the design and operation of a multirobot cell. The manufacturing cell is installed at Purdue University and consists of a PLC (Programmable Logic Controller), two industrial robots, two machine stations (for grinding and washing), and a conveyor. The design and control issues of the implemented manufacturing cell include the design of control architecture, synchronous and asynchronous sequence controls, deadlock prevention by Petri-net analysis, off-line operation plan by robot time-and-motion study, and error recovery. The application of the theoretical tools in this cell has proven effective in achieving the efficiency and reliability advantages of multirobotic operations
ER  -