2.1 Existing System When a materia

2.1 Existing System When a material handling system is to be made autonomous there is a need for additional sensors and appropriate control logic to manage the discrete events. It should be also noted that an autonomous system does not differ much structurally from the existing system. This reduces the overall cost for the automation. Even before the system is built, modelingand simulation of the system gives not only a good perception of the dynamic operations, but also a method to verify the design. An autonomous material handling system can be modeled as discrete event system at a certain level of abstraction. For high speed automation, both gantry and articulated arm robots are widely used throughout industry. Because of the many inherent advantages of the gantry robot, it is rapidly becoming the preferred choice for: [2] • Palletizing storage and retrieval • Machine loading parts transfer • Material handling automated assembly