Title :
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
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291907
