Industrijski mobilni roboti u inteligentnim tehnološkim sistemima

Abstract

U ovom radu se razmatra integracija industrijskih mobilnih robota u postojeće proizvodne paradigme kao što su CIM (Computer Integrated Manufacturing) i IMS (Intelligent Manufacturing Systems). Prilikom ove analize poseban akcenat je dat problemu unutrašnjeg transporta materijala u okviru pogona. U tom smislu problem lokalizacije industrijskih mobilnih robota identifikovan je kao jedan od osnovnih problema. U radu je prikazan algoritam lokalizacije izveden na osnovama Kalmanovog filtera. Izvedeni algoritam implementiran je u Matlab okruženju i izvršena je simulacija. Rezultati simulacije, diskusija i zaključak ukazuju na značaj i važnu ulogu mobilnih robota u inteligentnim tehnološkim sistemima.

This paper analyzes integration of industrial mobile robots into manufacturing paradigms well known as CIM (Computer Integrated Manufacturing) and IMS (Intelligent Manufacturing Systems). Material transport was in the focus of the analysis. Having this in mind, the localization of industrial mobile robots is identified as one of the essential problems. For these purposes localization algorithm based on Kalman filter is presented. The paper provides simulation procedure in Matlab environment and presents results of mobile robot localization. The results of simulation, discussion and conclusion point out the significance and important role of mobile robots in IMS.