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

摘要

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.