This project will study fundamental theoretical problems which arise in the design of a reconfigurable intelligent manufacturing workcell. The goal of this project is to model, develop, and experimentally test a new integrated sensing, planning and control methodology for the automation of cooperating machine modules acting in reconfigurable workcell environments. The research will focus on the following specific subproblems: (1) create sensing based perceptive frame for coordinating tasks in the workcell; (2) develop event-based planning and control for machine module coordination in the workcell; (3) study the self calibration algorithms for workcells; and (4) perform experiments to test and evaluate the research results. The research objectives are: (1) reduce down time of machine operations in workcells; (2) create a perceptive frame that adapts the planning and execution of cooperating machine module workcell tasks to the geometric and dynamic uncertainties automatically, and reduce the need for precision fixtures; and (3) reduce the ramp-up time when reconfiguring a manufacturing workcell.
