Smart Manufacturing Robotics Cyber Physical System
A pick and place machine is modeled to provide services of moving blocks either one or two positions over. The objective is to move a stack of three colored blocks from one location to the next such that the final stack is ordered according to color and size. The ordering is an emerging behavior based on local control for each of the blocks. As such, this is a distributed version of the Towers of Hanoi puzzle which is an example of a cyber-physical system.
A detailed industry grade network model based on EtherCAT and TCP/IP allows control of the packet error rate (PER) to test the robustness of the model when the network is unreliable.
Stereoscopic vision of a video stream of the virtual world enables the machine to first locate where the stack of blocks is. Feedforward control allows a quick pick and place action. Feedback control is used to move the blocks between locations. A pneumatic airflow is modeled to enable the machine to pick and move the blocks.
Cite As
Pieter Mosterman (2021). Smart Manufacturing Robotics Cyber Physical System (https://www.mathworks.com/matlabcentral/fileexchange/38515-smart-manufacturing-robotics-cyber-physical-system), MATLAB Central File Exchange. Retrieved .
Comments and Ratings (9)
MATLAB Release Compatibility
Platform Compatibility
Windows macOS LinuxCategories
- Simulink > Simulation >
Tags
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!Discover Live Editor
Create scripts with code, output, and formatted text in a single executable document.
smart_manufacturing_robotics_cyber_physical_system_R2020a
smart_manufacturing_robotics_cyber_physical_system_R2020a/analysis
smart_manufacturing_robotics_cyber_physical_system_R2020a
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
Select web siteYou can also select a web site from the following list:
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)
Your work is awesome. Did you implemented any research paper on it?
Variant control 'useMultirateVariant' of variant block 'cps_base_processor_v2/scheduler variants' must be a condition expression or name of a Simulink.Variant object in the global scope workspace of the model. Ensure that the condition does not match the model name.
error: Failed to load library 'visionstatistics' referenced by 'cps_blocks_v2/detect light/2-D Maximum'. how to handle with this problem ?
This software is citable:
@article{Towers15,
author = "Pieter Mosterman and Justyna Zander",
title = "{TowersOfHanoiOnGitHub: Towers of Hanoi in MATLAB/Simulink}",
month = "Jan",
year = "2015",
doi = "{10.5281/zenodo.13977}",
url = "{http://dx.doi.org/10.5281/zenodo.13977}",}
This model was the subject of my presentation at the <i>IEEE Real-Time and Embedded Technology and Applications Symposium</i> (RTAS) Industrial Session.
<P>
The video of my talk is available on YouTube at http://www.youtube.com/watch?v=nU9mgApFbyw
A video of one scenario where a stack of blocks is sorted is available on YouTube at:
http://www.youtube.com/watch?v=L85uAgMamX8
Excellent complete example for Model-Based Design!