Design of a Robotic Work Cell Using Hierarchical Systems Approach and Visual Components Software

The use of Hierarchical Systems (HS) technology in conceptual design of RWC (Robotic Work Cell – RWC) is proposed in the work. In comparison with other widespread approaches, conceptual model of the RWC constructed in HS formal basis contains connected models of RWC subsystems, RWC structure, its dynamic presentation as the unit in its environment and RWC. The design and control system of RWC is presented in the form of HS coordinator. For the detailed design of the selected RWS Visual Components system was applied in the work. First, the conceptual model of the RWS is presented in the paper. The application of the Visual Components program system for the detailed design of the RWC is described after that. Third, the laboratory experiment with KUKA KR16-2 F robot is briefly considered. The results and conclusive remarks are finally presented in the paper.