A Holonic Shot-blasting System

Tapio Heikkilä, Leila Rannanjärvi, Mikko Sallinen, Mika Rintala

Research output: Chapter in Book/Report/Conference proceedingChapter or book articleScientificpeer-review

Abstract

Holonic features such as cooperative and autonomous behaviour can ensure the flexibility and robustness of a manufacturing system. When a holonic system is to be implemented, several important issues have to be resolved: How to describe the task to be completed? How to decompose a task for different production devices? How to optimise the workflow and co-ordinate the production?

Our holonic shot-blasting system is a demonstration, where two separate robots work together to complete surface treatment tasks. A 3D design model of a product, with selected surface treatment operations, is the starting point of holonic shot-blasting. The workpiece (the product) must be localised, with an optical sensor in the robot cell, before any treatment can proceed. The treatment plan is transformed into TCP paths. The final decision of the active robot depends on the kinematics of the robot, on the tool in hand, on the workload and on the free space in the cell. In our system, the decision mechanism is a blackboard and robots are active and willing to complete tasks.
Original languageEnglish
Title of host publicationAgent based manufacturing : advances in the holonic approach
EditorsS.M. Deen
Place of PublicationBerlin
PublisherSpringer
Pages255-302
ISBN (Electronic)978-3-662-05624-0
ISBN (Print)978-3-540-44069-7, 978-3-642-07895-8
DOIs
Publication statusPublished - 2003
MoE publication typeA3 Part of a book or another research book

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Blasting
Robots
Surface treatment
Optical sensors
End effectors
Expert systems
Kinematics
Demonstrations

Cite this

Heikkilä, T., Rannanjärvi, L., Sallinen, M., & Rintala, M. (2003). A Holonic Shot-blasting System. In S. M. Deen (Ed.), Agent based manufacturing : advances in the holonic approach (pp. 255-302). Berlin: Springer. https://doi.org/10.1007/978-3-662-05624-0_12
Heikkilä, Tapio ; Rannanjärvi, Leila ; Sallinen, Mikko ; Rintala, Mika. / A Holonic Shot-blasting System. Agent based manufacturing : advances in the holonic approach. editor / S.M. Deen. Berlin : Springer, 2003. pp. 255-302
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Heikkilä, T, Rannanjärvi, L, Sallinen, M & Rintala, M 2003, A Holonic Shot-blasting System. in SM Deen (ed.), Agent based manufacturing : advances in the holonic approach. Springer, Berlin, pp. 255-302. https://doi.org/10.1007/978-3-662-05624-0_12

A Holonic Shot-blasting System. / Heikkilä, Tapio; Rannanjärvi, Leila; Sallinen, Mikko; Rintala, Mika.

Agent based manufacturing : advances in the holonic approach. ed. / S.M. Deen. Berlin : Springer, 2003. p. 255-302.

Research output: Chapter in Book/Report/Conference proceedingChapter or book articleScientificpeer-review

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Heikkilä T, Rannanjärvi L, Sallinen M, Rintala M. A Holonic Shot-blasting System. In Deen SM, editor, Agent based manufacturing : advances in the holonic approach. Berlin: Springer. 2003. p. 255-302 https://doi.org/10.1007/978-3-662-05624-0_12