Evaluation of scheduling approaches for robotic assembly tasks using Petri nets

In this paper, we present an approach to robotic assembly task scheduling which yields suboptimal solutions. The robotic assembly system involves two robot arms working in the same workspace. Collision avoidance between the two robot arms is guaranteed by the use of the uniform cell decomposition approach. Timed Petri nets are used to model the assembly activities. The execution times of the assembly activities are determined during the generation of the reachability graph. Several approaches used to generate the reachability graph and determine the minimum-time paths are proposed