SHPN Modelling, Visual Servoing and Control of WMR with RM Integrated into P/RML

In this paper, the main purpose is to design the model of a given mechatronics line, composed by several workstations and serviced during the recovery, transport and return of a work piece by a Wheeled Mobile Robot (WMR) which has mounted a Robotic Manipulator (RM). The work piece to be transported has been initially tested and did not pass the quality test. In this context, the Processing/Reprocessing Mechatronics Line (P/RML) model will be given by a combination between Synchronized Hybrid Petri Nets (SHPN), visual servoing system for work piece recovery and return and sliding-mode controller for WMR movement. The hybrid aspect of the model is given by the mechatronics line model, that is the discrete part and the continuous part represented by the WMR. The synchronization of the two parts is ensured by sensors and video cameras. Transport of work pieces is a random event which starts when the quality test is not passed. Combining SHPN model with visual servoing systems from two cameras the real-time control structure is defined and implemented in order to achieve processing and reprocessing without human interference.