Формирование сбалансированных производственных операций
This article is dedicated to the analysis and generalization of the well-known task of operation synchronization in assembly shops and its extension to the robot complexes in processing shops. The verbal defi nition of this generalized problem specifying its relation with the "task of stone heap" is done. An economic-mathematic model of this task improved by the author, the method of its solution, and the fl ow block of the appropriate algorithm is suggested.
This article discusses the features of the spatial processes of fast and accurate positioning
of points on the external surface of the object using the manipulation robot when executing
the sequence of technical operations. Considered, pregenerating digital models of the
external surfaces of the object. The quality of obtaining the coordinates of the points of
an object's surface, determines the accuracy of positioning the surface of an object in the
working zone. Simulation of positioning the moving points on the surface of the body in
the working zone of a robotic system to capture the object is determined relative to a
fixed point of another object, with respect to which positioning is to perform technical
operation. When it is not sufficiently accurate and fast positioning then it is required a
new surface model of an object and positioning the technical points on the surface. The
simulation in MATLAB making a conclusion about the possibility of application of fuzzy
controller for fast and accurate correction values of a small deviations from the coordinates
of selected technical points of the surface of an object in the given vectors in its orientation
and approach to the fixed point of another object.