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88 . Exploratory Workshop on the Social Impacts of Robotics

Explanation of Figure 3.

The

computing

architecture

shown

in Figure

a generic automatic

system

that can be applied

manufacturing

facilities

and

to can

3 is intended a wide variety

be

extended

as of to

much cal,

larger applications. with the computational

The basic structure is load distributed evenly

hierarchi- over the

various

of

the

computational

hierarchy.

At

units at the lowest

the various different levels level in this hierarchy are

the individual robots, robot carts, conveyors of which may have its

}

N/C

and own

machining

centers,

smart

sensors,

automatic storage systems, internal hierarchical control

each sys-

tem.

These

individual

machines

are

organized

into

work

sta-

tions Several receive

under

the

control

of

a work station control unit.

work

station

control

units

are

organized under,

and

input

commands

from

a

cell

control

unit.

Several

may

be organized

under

shop

control unit,

etc.

cell

control units

commands

from

a

and receive

input

This

hierarchical

structure can be extended to as many

levels

with

as

many

modules plexity

per

of

the

level

as are

factory.

necessary,

depending on the

com-

On the

right

side of Figure

3

is

shown

a

data

base

which

contains handling ments,

the

part programs

for the machine tools,

programs dimensions,

for

the and

robots} tolerances

the materials derived from

the part require- the part

design data base,

and the

algorithms

and process

plans

re-

quired

for

routing,

scheduling)

tooling,

and fixturing.

This data is

generated by

a

Computer-Aided-Design

(CAD)

sys-

tem and This data formation

a

Computer-Aided-Process-Planning

(CAPP)

system.

base is required

hierarchically structured so that the at the different hierarchical levels

in- is

readily available when needed.

On the left is a second data base

which

contains

the

current

status

of the factory,

Each part

in process in the factory

has

a file

to what stage of quality

the

batch

of

parts

that

it is

with,

and

information.

This

data

base

is

also

in this

data base

which

contains

information

as

its

is

the position and

completion}

control

orientation of that

part,

hierarchically

tion of table top

.

each At

part is the next structured. referenced to a higher level, the At the lowest level , particular tray work station, the posi- or the

position

of

each part refers to which tray the part is in.

At the cell

level,

part is in.

The

position refers to which work station the feedback processors on the left scan each

level of the data base and extract terest to the next higher level. system makes it possible to query

the information of in- A management information this data base at any lev-

el It

and determine the status of any can also set or alter priorities

part or job in the on various Jobs.

shop.

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