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

RESEARCH ON MODELLING OF ROBOTIC ASSEMBLY PROCESS USING PETRI NETS AND GENERATION OF OPTIMAL ASSEMBLY TRAJECTORY

  • 摘要: 本文基于装配过程离散控制的思想,以扩展库所/变迁网对装配过程进行作业建模,提出了装配状态优化变迁序列的生成方法和算法.该方法有利于在不确定性存在时在任务级上实现装配过程的控制.

     

    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.

     

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