Paper Info
Title
An augmented Petri net for modeling and control of assembly tasks with uncertainties
Abstract
Uncertainties are inevitable in robotic assembly in unstructured environment since it is difficult to construct fixtures to guide motions of robots. This study proposes an augmented Petri net to model and control assembly tasks in unstructured environment. Conditions and costs of state changes can be simply computed from the output functions of the Petri net model. An algorithm is also proposed to adapt the model on-line. The model constructed by the algorithm is more compact and efficient than an off-line model since its states and events are dynamically modified on-line. The proposed method is evaluated by experiments with L-type peg-in-hole assembly using a two-arm robot system.
Year
DOI
Venue
2003
10.1109/ICSMC.2003.1244296
SMC
Keywords
Field
DocType
assembly tasks control,petri nets,l type peg in hole assembly,augmented petri net,industrial manipulators,two arm robot system,robotic assembly,petri net
Robotic systems,Petri net,Control theory,Computer science,Control engineering,Real-time computing,Robot
Conference
Volume
ISSN
ISBN
3
1062-922X
0-7803-7952-7
Citations 
PageRank 
References 
3
0.45
6
Authors
2
Name
Order
Citations
PageRank
Seong Youb Chung1354.41
Doo Yong Lee225234.35