Representation of assembly and automatic robot planning by Petri net

The author proposes an approach to represent assembly by Petri nets and presents an algorithm of automatic robot assembly planning based on the Petri-net model. The Petri-net model of assembly is configured by the goal structures and initial constraints, both in the Petri-net formalism. Due to the Petri-net representation of assembly, the plan generation is quite straightforward and the planning algorithm can be easily and efficiently implemented with simple matrix manipulation. An example of how to plan an assembly by the Petri net model is presented