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Max Plus 대수를 활용한 로봇 반복 작업의 안정상태 분석
Max-plus algebra is a nonlinear system made of two operations, maximization (max) and additions (plus), that are corresponding to the addition and multiplication in the traditional algebra, in respect. This algebraic method can be applied to many types of discrete event systems showing the state transition with the maximization and addition operations. Robotic cell with predetermined cyclic schedule is one of such systems. We consider a robotic cell that consists of a single robot and several isolated processing modules. We discuss steady state analysis of such robot cell when all the parts have the processing order as a flow shop. To model timing behavior of a robotic cell, we develop a max-plus algebraic system. Given a particular robot transfer sequence, we prove the unique existence of the stationary cyclic behavior and identify the schedule. Furthermore we suggest max-plus algebraic way to develop a robust schedule which endures the outside processing variability. Finally, a monitoring and control system for such robotic cell based on the max-plus algebraic model is also proposed.
