In: Journal of Robotic Systems, Vol. 6, No. 2, pages 149-173. April 1989.
Abstract: The complexity of modern robotic workcells makes programming applications enormously difficult. The authors propose a two-part solution to this workcell programming problem: SAGE/WRAP. A graphics interface is provided to the user in order to define the application. Then SAGE builds a Petri net description of the workcell application; this is used to obtain a time-optimal sequence of operations for each workcell element. The time-optimal sequence then becomes the basis of the runtime program that performs the application. This program is interpreted and executed by the hierarchical workcell runtime environment called WRAP.
Keywords: integrated programming environment robotic workcell; hierarchical workcell runtime environment; SAGE; time-optimal sequence (of operations).
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