Abstract
Cooperative manufacturing is a new trend in industry, which depends on the existence of a collaborative robot. A collaborative robot is usually a light-weight robot which is capable of operating safely with a human co-worker in a shared work environment. During this cooperation, a vast amount of information is exchanged between the collaborative robot and the worker. This information constructs the cooperative manufacturing knowledge, which describes the production components and environment. In this research, we propose a holonic control solution, which uses the ontology concept to represent the cooperative manufacturing knowledge. The holonic control solution is implemented as an autonomous multi-agent system that exchanges the manufacturing knowledge based on an ontology model. Ultimately, the research illustrates and implements the proposed solution over a cooperative assembly scenario, which involves two workers and one collaborative robot, whom cooperate together to assemble a customized product.
Abstract (translated)
合作制造是一种新兴的行业趋势，它依赖于合作机器人的存在。合作机器人通常是一种轻量级的机器人，能在共享工作环境中安全地与人类同事操作。在合作过程中，大量的信息在合作机器人和工人之间进行交换。这些信息构成了合作制造知识，描述了生产组件和环境。在这项研究中，我们提出了一个holonic控制解决方案，该方案使用本体论概念来表示合作制造知识。holonic控制解决方案被实现为基于本体模型的自主多代理系统，该系统基于本体模型交换制造知识。最后，研究在合作组装场景中展示了并实现了所提出的解决方案，该场景涉及两个工人和一个合作机器人，他们一起合作组装定制产品。
URL
https://arxiv.org/abs/2404.00341
