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On algebraic and graph structural properties of assembly Petri net

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4 Author(s)
T. Suzuki ; Dept. of Electron. Mech. Eng., Nagoya Univ., Chikusa, Japan ; T. Kanehara ; A. Inaba ; S. Okuma

Assembly planning is a significant problem for automatic assembling using robotic manipulators. An assembly planning method using a Petri net is presented. The assembly network is modeled by using the Petri net with reference to the conventional and/or net. The state shift equation of the Petri net, which is a mathematical model of the net, is analyzed. From this analysis, it is clarified that the set of a basis solution of a state shift matrix is an actual assembly sequence. When considering an optimization problem which minimizes a summation of a weight value of all tasks included in the assembly sequence, a linear programming (LP) technique can be used. Some numerical examples to certify the validity of the proposed analysis are shown

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993