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Qualitative Modeling of Assembly Tasks in Robot Cells Using Coloured Petri Nets.

Ramirez-Trevino, A.; Lopez-Mellado, E.

In: Proceedings of Rensselaer's Second International Conference on Computer Integrated Manufacturing, 1990, Troy, NY, USA, pages 475-482. Los Alamitos, CA, USA: IEEE Comput. Soc. Press, 1990.

Abstract: A methodology is presented to build colored Petri nets (CPN) describing assembly tasks performed by robot cells. The approach consists mainly of a catalog of CPN modules modeling the cell operations and a set of rules for module mating and reduction. It is pointed out that CPN can be used as a knowledge-representation tool for qualitative tasks plans. A modeling example of an assembly task performed by a two-robot cell is included.

Keywords: modelling (of) assembly tasks (in) robot cell(s) (using) coloured net(s); module mating; knowledge-representation tool; module reduction.


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