Task sequence planning in a robot workcell using AND/OR nets

An approach to task sequence planning for a generalized robot manufacturing or material handling workcell is described. Given the descriptions of the objects in this system and all feasible geometric relationships among these objects, an AND/OR net which describes the relationships of all feasible geometric states and associated feasibility criteria for net transitions is generated. This AND/OR net is mapped into a Petri net which incorporates all feasible sequences of operations. The resulting Petri net is shown to be bounded and have guaranteed properties of liveness, safeness, and reversibility. Sequences are found from the reachability tree of the Petri net. Feasibility criteria for net transitions may be used to generate an extended Petri net representation of lower-level command sequences. The resulting Petri net representation may be used for online scheduling and control of the system of feasible sequences. A simulation example of the sequences is described