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

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.