Qualitative modeling of assembly tasks in robot cells using coloured Petri nets

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.<
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