张伟军, 彭商贤, 刘大维, 张洪刚. 基于PETRI网的机器人装配作业建模及装配路径优化方法的研究[J]. 机器人, 1998, 20(3): 207-213..
ZHANG Weijun, PENG Shangxian, LIU Dawei, ZHANG Honggang. RESEARCH ON MODELLING OF ROBOTIC ASSEMBLY PROCESS USING PETRI NETS AND GENERATION OF OPTIMAL ASSEMBLY TRAJECTORY. ROBOT, 1998, 20(3): 207-213..
Abstract：Based on discrete control of assembly process, an extended PETRI net is constructed to describe assembly process. According to the criterion of minimum number of transitions and maximum state stability, the algorithm for generating the optimal assembly state transition sequence is presented. The method is advantageous to the control of assembly state in the task level under uncertainties and lay a foundation for the research of on line intelligent robotic assembly strategy.
1 Luo R C et al.Intelligent Robot with Adaptive Compliance Using Sensory Feedback Control.SPIE:Intelligent Robot and Computer Vision,1986:402～408 2 Asada H.Representation and Learning of Nolinear Compliance Using Neural Nets.IEEE Trans,on Robotics and Automation,1993,9(6):863～867 3 Jin g Xiao,Richard A Vol z.On Replanning for Assembly Task Using Robots in the Presence of Uncertainties.IEEE Int Conf on Robotics and Automation.1989:638～645 4 袁崇义.Petri网.东南大学出版社 5 Tiehua Cao,Authur C,Sanderson.A Fuzzy Petri Net Approach to Reasoning about Uncertainty in Robotics System.IEEE Int Conf,on Robotics and Automation,1993 6 Sanderson.A Approach to Robotics Assembly with Fuzzy Petri Nets.IEEE Int Conf,on Robotics and Automation.1994
