Adaptive monitoring architecture and service method of robots based on DPWS and Petrinets

WANG Ting, XV Fang, TAN Dapeng, ZHANG Libin

（Key Laboratory of E&M, Ministry of Education&Zhejiang Province, Zhejiang University of
Technology, Hangzhou 310014 China）

Abstract: Aiming at the problem of poor adaptive ability and low realtime performance of robot monitoring system, the adaptive monitoring architecture and service method based on DPWS and PetriNets were carried out. In this method, monitoring node selforganized network, dynamic configuration and seamless link were realized by DPWS discovery mechanism. WSDL was used to unify service interface and shield the underlying robot’s heterogeneity. On this basis, PetriNets was utilized to implement the process control of monitoring system, improve the execution efficiency and realtime performance. Taking low voltage electrical assembly as object, system simulation model was established and application software was developed to verify the feasibility of the method. The results indicate that this method can effectively improve monitoring adaptive service performance and execution efficiency. In addition, this method can also provide useful technical support for research and development of monitoring system.

Key words: robot monitoring; DPWS; PetriNets; network architecture; selfadaptive