Next Article in Journal
Terahertz Inspection of Buildings and Architectural Art
Next Article in Special Issue
A Survey on Robotic Technologies for Forest Firefighting: Applying Drone Swarms to Improve Firefighters’ Efficiency and Safety
Previous Article in Journal
A New Under-Sampling Method to Face Class Overlap and Imbalance
Previous Article in Special Issue
Automatic Design of Collective Behaviors for Robots that Can Display and Perceive Colors
Article

Synchronization of Heterogeneous Multi-Robotic Cell with Emphasis on Low Computing Power

Faculty of Materials Science and Technology in Trnava, Slovak University of Technology in Bratislava, Trnava 917 24, Slovakia
*
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(15), 5165; https://doi.org/10.3390/app10155165
Received: 26 June 2020 / Revised: 20 July 2020 / Accepted: 23 July 2020 / Published: 27 July 2020
(This article belongs to the Special Issue Multi-Robot Systems: Challenges, Trends and Applications)
This paper presents a time-synchronization solution for operations performed by a heterogeneous set of robotic manipulators grouped into a production cell. The cell control is realized using master–slave architecture without an external control element. Information transmission in a cell is provided by a TCP/IP channel in which communication is ensured via sockets. The proposed problem solution includes an algorithm, which is verified and validated by simulation and tested in real environment. This algorithm requires minimal computational power thanks to an empirically oriented approach, which enables its processing directly by the control unit of each participating element of the robotic cell. The algorithm works on the basis of monitoring and evaluating time differences among sub-operations of master and slave devices. This ensures defined production cycle milestones of each robotic manipulator in the cell at the same time are attained. Dynamic speed adaptation of slave manipulators utilizing standard instructions of their native language is used. The proposed algorithm also includes a feedforward form of operations synchronization which responds to changes in the operating cycle of the master manipulator. The application of the solution proposal is supplemented with a visualization part. This part represents a complementary form of designed solution implementation. View Full-Text
Keywords: time-based synchronization; heterogeneous multi-robotic cell; socket communication; low computational power; native language application time-based synchronization; heterogeneous multi-robotic cell; socket communication; low computational power; native language application
Show Figures

Figure 1

MDPI and ACS Style

Juhás, M.; Juhásová, B. Synchronization of Heterogeneous Multi-Robotic Cell with Emphasis on Low Computing Power. Appl. Sci. 2020, 10, 5165. https://doi.org/10.3390/app10155165

AMA Style

Juhás M, Juhásová B. Synchronization of Heterogeneous Multi-Robotic Cell with Emphasis on Low Computing Power. Applied Sciences. 2020; 10(15):5165. https://doi.org/10.3390/app10155165

Chicago/Turabian Style

Juhás, Martin, and Bohuslava Juhásová. 2020. "Synchronization of Heterogeneous Multi-Robotic Cell with Emphasis on Low Computing Power" Applied Sciences 10, no. 15: 5165. https://doi.org/10.3390/app10155165

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop