<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>The article proposes an original interdisciplinary approach to the design and construction of cyber-physical robot systems for mechanical processing. From a methodological aspect, the goal is the unification of modeling/synthesis and simulation software of a robot system for mechanical processing operating under the conditions of digital robust control. The system includes industrial robots; modules for implementing technological operations and transport systems. Adherence to the principle of modular construction, reconfiguration, and multi-operation ensures high flexibility and quick response when readjusting the system, and the optimization criteria – minimizing idle moves of the robot, leads to a reduction in the work cycle. The robust control, simultaneously in the instrumental, configurational, and system direction, is a counteraction in the mode of uncertainty, both to external signal disturbances and to possible constantly acting, system reparametrizing factors. This creates prerequisites for maintaining and implementing in online mode both the technological and geometric parameters of the details processed.</p>
</abstract>

The article proposes an original interdisciplinary approach to the design and construction of cyber-physical robot systems for mechanical processing. From a methodological aspect, the goal is the unification of modeling/synthesis and simulation software of a robot system for mechanical processing operating under the conditions of digital robust control. The system includes industrial robots; modules for implementing technological operations and transport systems. Adherence to the principle of modular construction, reconfiguration, and multi-operation ensures high flexibility and quick response when readjusting the system, and the optimization criteria – minimizing idle moves of the robot, leads to a reduction in the work cycle. The robust control, simultaneously in the instrumental, configurational, and system direction, is a counteraction in the mode of uncertainty, both to external signal disturbances and to possible constantly acting, system reparametrizing factors. This creates prerequisites for maintaining and implementing in online mode both the technological and geometric parameters of the details processed.

Methodology for Designing Cyber-Physical Multi-Operation Robot Systems Operating in the Conditions of Digital Robust Control

Technical University of Sofia, Faculty of Automatics

Cybernetics and Information Technologies

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

The article proposes an original interdisciplinary approach to the design and construction of cyber-physical robot systems for mechanical processing. From a...

Methodology for Designing Cyber-Physical Multi-Operation Robot Systems Operating in the Conditions of Digital Robust Control

Published Online: Sep 28, 2023

Page range: 114 - 125

Received: Jun 08, 2023

Accepted: Aug 19, 2023

DOI: https://doi.org/10.2478/cait-2023-0028

Keywords
Cyber-physical system, Robotic system, Robot in machining, Multi-operational processing, Robust control

© 2023 Sasho Guergov et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Methodology for Designing Cyber-Physical Multi-Operation Robot Systems Operating in the Conditions of Digital Robust Control

Published Online: Sep 28, 2023

Page range: 114 - 125

Received: Jun 08, 2023

Accepted: Aug 19, 2023

DOI: https://doi.org/10.2478/cait-2023-0028

KeywordsCyber-physical system, Robotic system, Robot in machining, Multi-operational processing, Robust control

© 2023 Sasho Guergov et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
Cyber-physical system, Robotic system, Robot in machining, Multi-operational processing, Robust control