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Path Planning and Control for a Flexible Transfer System
Naoyuki Kubota*, Yusuke Nojima*, Fumio Kojima**, Toshio Fukuda*** and Susumu Shibata****
*Dept. of Mechanical Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka-city, Osaka 535-8585, Japan
**Dept. of System Function Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan
***Dept. of Micro Systems, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
***Environment Technology Department, Technology Research & Development Center, Toyo Engineering Corporation, 8-1 Akanehama 2-chome, Narashino-shi, Chiba 275-0024, Japan
Received:November 11, 1999Accepted:December 3, 1999Published:April 20, 2000
Keywords:flexible transfer system, path planning, genetic algorithm, learning automaton, fuzzy control
Abstract
We studied intelligent control of self-organizing manufacturing system (SOMS) composed of modules that self-organize based on time-series information from other modules and environment. Modules create output through interaction with other modules. We discuss intelligent control and path planning in a manufacturing line of conveyer units and machining centers. Genetic algorithm are applied to conveyor pallet path planning in global decision making and learning automaton is applied to local conveyer decision making. We use simplified fuzzy inference to control pallets providing interval, verifying its feasibility by simulation.
Cite this article as:N. Kubota, Y. Nojima, F. Kojima, T. Fukuda, and S. Shibata, “Path Planning and Control for a Flexible Transfer System,” J. Robot. Mechatron., Vol.12 No.2, pp. 103-109, 2000.Data files:
Copyright© 2000 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
