Local contact state space generation using colored Petri nets

The automatic synthesis of a plan to perform a robotized assembly task from a high level description of the product to be assembled is a difficult issue which involves assembly planning and task planning. One of the main scopes of task planning is the planning of contact motions, which usually relies on a graph representation of contact space. This paper deals with the automatic computation of the local contact space using colored Petri nets (CPN). The presented CPN model is to be integrated into a Petri net based system that copes with both planning issues, making use of the hierarchical nature of high level Petri nets.