Implementação de prd integrado a controle adaptativo aplicada a robô linear

Abstract

Previous works using Petri nets with RFID, called Petri Net inside RFID database or PNRD and the inverted PNRD (iPNRD), enable product identification and also allow updating the item’s state with respect to the expected process in real time. These systems are limited in terms of the size of the process model, which expo nentially explodes with the number of items that can be identified, and they do not internally have an adaptive control system that can reconfigure the movements of the robots used in possible exceptions. The alternative to this problem is the im plementation of integration of a planning system using the PRD (Predicate Inside RFID Data structure). For proof of concept, it is intended to implement this system in a Cartesian robot. In this work, a complete PRD system is fabricated. Using a robotic gripper and an RFID sensor attached to the gripper, with the sensor read by an Arduino MEGA integrated with the Shield Ramps 1.4 directly connected to the main computer in which the Cartesian robot operates when executing the system, discrete system modules are activated, which are used for full operation. As a result, a computational system capable of dealing with various types of exceptions is obtai ned, from those related to the identification of the initial and final states identified here as static, to those that arise during the movement of items, in this case called dynamic.