Design of motion strategy for mobile robot in reconfigurable manufacturing system

Hasbullah, Muhammad Haziq (2015) Design of motion strategy for mobile robot in reconfigurable manufacturing system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Mobile robots have been widely used in manufacturing industry to provide autonomous environment onto the system. Most of the time, mobile robot is being utilized to ease and automate material handling process. In order to navigate and command the mobile robot, guided navigation method such as magnetic tape has been used. This method is commonly implemented in a fixed manufacturing system. However, in order to respond for a sudden change in market, fixed manufacturing system is no longer relevant to the industry. This situation affect the used of mobile robot in the industry that utilizing the magnetic tape navigation method which suitable for fixed manufacturing system. Nowadays, most industries have implemented the Reconfigurable Manufacturing System (RMS) approach which is able to adapt with rapid change either in term of hardware or software component. In other word, the system for RMS is involving changeable layout in the manufacturing system. Hence, to implement the mobile robot in RMS, an appropriate guidance system for the mobile robot is needed to adapt with the change in the manufacturing system especially its layout. This change involves new cost and reprogramming effort. In order to complement the issue, for the mobile robot to be implement in the RMS without utilizing the fixed navigation method, this project proposed and developed reconfigurable motion strategy for mobile robot platform to work in RMS environment. This project will focus on the National Instrument (NI) LabVIEW robotic module as the programming language. The implementation of this project will be conducted in by using LabVIEW Robotics Environment Simulator. The A-Star path planning algorithm was being implemented along with the pre-selection programming configuration. Prior to the design and development of the motion strategy, a study on the motion capability for the NI mobile robot platform had been conducted. The simulation was run along with the front panel which has several buttons to choose the mobile robot input layout. Each of the buttons was tested to make sure the mobile robot able to move for each input layout. The significant finding of the study is that the use of pre-selection programming configuration with the A-Star algorithm motion strategy can be implemented as that the mobile robot able to move according to shortest generated path in various RMS layout. The implementation of the project is hoped to provide a fresh idea for further usage of mobile robot in manufacturing industry.

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