# Synchronization of Heterogeneous Multi-Robotic Cell with Emphasis on Low Computing Power
## 4 Validation of the Proposed Solution
### Implementation of the Proposed Solution and Discussion  
The functionality of the designed algorithms was tested in the final phase on real robot manipulators in a multi-robotic cell. The algorithms were processed in the native language of each robotic manipulator controller using its built-in standard functions.  
The model robotic cell, used for the purposes of this paper, contains a heterogeneous triplet of robotic manipulators as shown in Figure 16.  
Figure 16: Heterogeneous multi-robotic cell.  
Figure 14: Percentage proportion deviation with feedforward synchronization—Experiment 2b.  
Figure 15: Brief summary of Experiment 2b results.  
One production cycle consists of five operations (\(m=5\)), and mainly contains instructions for circular interpolation movement in combination with linear interpolation movement. The whole production cycle is schematically shown in Figure 17.  
The organizational structure of this robotic cell control was realized as master-slave [24,25] without an external control element. The master object (master manipulator) chosen was a Mitsubishi Melfa RV-2 FB-D robot with the Mitsubishi CR750-D control system [26]. Robots ABB IRB 120 and ABB IRB 140, with IRC5 Compact control systems, were the child objects-slaves [27]. A personal computer was considered an element of the slave group and provided visualization of the cell activity synchronization process. Configurations of every cell element are listed in Tables 1 and 2. The TCP/IP channel provided communication among cell elements on the basis of socket exchange [25,28].  
Confirmed coordination of operations control among robotic manipulators and unconfirmed communication between master and monitoring computer were used in the cell. Confirmed coordination means that after every operation is executed by the master element, a terminating message is sent to the slave side and the master element waits for a confirmation message. The next operation can only be initiated after receiving a confirmation message from the slave object. Unconfirmed  
\begin{table}
\begin{tabular}{c c} \hline \hline
**Object** & **IP Address** \\ \hline Robot ABB IRB 120 & \\ Controller ABB IRC5 COMPACT & 192.168.1.120 \\ Robot ABB IRB 140 & \\ Controller ABB IRC5 COMPACT & 192.168.1.140 \\ PC & 192.168.1.111 \\ \hline \hline \end{tabular}
\end{table}
Table 1: Slave Configuration.  
\begin{table}
\begin{tabular}{c c} \hline \hline
**Parameter** & **Value** \\ \hline Object & \
\begin{tabular}{c} Robot Mitsubishi Melfa RV-2 FB-D \\ Controller Mitsubishi CR750-D \\ 192.168.1.20 \\ COMDEV \\ NETMODE \\ NETPORT \\ CRPCE \\ PORT \\ \end{tabular} &
\begin{tabular}{c} Robot Mitsubishi Melfa RV-2 FB-D \\ Controller Mitsubishi CR750-D \\ 192.168.1.20 \\ 5, 6, 7 (OPT16, OPT17, OPT18) \\ 1 (SERVER) \\ 10006, 1007, 10008 \\ 2 (DATALINK) \\ PORT \\ \end{tabular} \\ \hline \hline \end{tabular}
\end{table}
Table 2: Master Configuration.  
Figure 17: Desired set of operations in one production cycle.  
communication in this case involves simply receiving messages about the synchronization process by the slave object, without sending any confirmation message to the master object [25].