In: Robotersysteme, Vol. 4, No. 2, pages 107-115. 1988.
Abstract: The analysis of cycle times in multirobot assembly cells involves the representation, specification and modelling of the cell activities. A generalised Petri net simulator called ROBSIM is used to simulate Petri net models of the multirobot cell. This paper outlines a generalised procedure for addressing the collision aspect in evaluating the cycle times using ROBSIM. The procedure can also be used for other aspects of synchronization in multirobot applications.