Abstract
M. Ing.
This work describes the establishment of an intelligent control system
on board an AGV for automatic adaptation to the motions and actions
of industrial robots. The movements can represent an assembly
sequence or material loading sequence. A relationship is established
between the workspaces of the industrial robot and the AGV. The
coordinate systems are integrated for the AGV to respond to the
movements of the industrial robot in the correct way. The integration of
these two different coordinate systems leads to the creation of a
common workspace. Within this common workspace, the AGV
interacts with the robot using the same reference points. The
mathematical analysis and practical implementation of this transient
workspace is described. The adaptive control presented allows for an
intelligent decision making process to be performed on line with the
use of an expert system.