The specification of a robot control system with Grafcet

Describes the specification of a robot control system by means of Grafcet (sequential function charts). Grafcet is used since i) it is due to its graphical representation easy to use, ii) it allows the incorporation of logic and sequential issues in the specification, iii) it is formal enough to analyse the specification with techniques based on Petri net analysis and iv) it enables automatic translation into software. An example consisting of a robot which has to perform an assembly task, a dove-tail insertion, is used to highlight the approach. Furthermore Grafcet is introduced, the specification of the example system is discussed. Finally it is shown that analysis of the specification is possible like Petri net analysis, e.g. the analysis of the specification allows temporal verification of closed loop tasks.