On algebraic and graph structural properties of assembly Petri net

Author

Suzuki, Tatsuya ; Kanehara, Takahide ; Inaba, Akio ; Okuma, Shigeru

Author_Institution

Dept. of Electron. Mech. Eng., Nagoya Univ., Chikusa, Japan

fYear

1993

fDate

2-6 May 1993

Firstpage

507

Abstract

Assembly planning is a significant problem for automatic assembling using robotic manipulators. An assembly planning method using a Petri net is presented. The assembly network is modeled by using the Petri net with reference to the conventional and/or net. The state shift equation of the Petri net, which is a mathematical model of the net, is analyzed. From this analysis, it is clarified that the set of a basis solution of a state shift matrix is an actual assembly sequence. When considering an optimization problem which minimizes a summation of a weight value of all tasks included in the assembly sequence, a linear programming (LP) technique can be used. Some numerical examples to certify the validity of the proposed analysis are shown

Keywords

Petri nets; assembling; industrial manipulators; linear programming; path planning; assembly Petri net; assembly planning; assembly sequence; automatic assembling; graph structural properties; linear programming; robotic manipulators; state shift equation; state shift matrix; weight value; Ear; Equations; Heuristic algorithms; Linear programming; Manipulators; Mathematical model; Robot programming; Robotic assembly; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291907

Filename

291907