A multi-robot control experimental system with random parts arrival

This paper describes an experimental system that implemented the Activity Controller Theory presented in Maimon [8] pp. 48-70. The controller has the ability to coordinate any number of robots (and other automated machines) and to respond to the random arrival of components, so as to efficiently assemble different products. The work also briefly presents the structure of the coordination system, and a solution frame to the dynamic collision avoidance problem. The computer-controlled experimental system is used to simultaneously operate two robots sharing tasks and auxiliary devices in an assembly cell.