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


    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
    ISBN (Electronic)978-3-662-05624-0
    ISBN (Print)978-3-540-44069-7, 978-3-642-07895-8
    Publication statusPublished - 2003
    MoE publication typeA3 Part of a book or another research book


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