At the K.U. Leuven, a flexible assembly cell is being developed, comprising part feeding equipment, a transport system and multiple robots. A set of networked computers, programmable logic controllers and robot controllers is organised into a hierarchical control system. This paper discusses the control system design. It is generic with respect to a large class of flexible production systems. The effort required to adapt the control system to a new class member is minimal.
The control system schedules the operations in an efficient and robust fashion. Failure recovery and resource management are handled by the control system assisted by directives in the product definitions.