This paper describes a system named TPMS (Task Planning forManufacturing Systems). The final goal of this system is toautomatically generate programs or sets of commands for robots, AGVs,numerical control machines and other components of the system withoutthe need of spending much time programming the flexible manufacturingsystem (FMS) components. The sequence of operations to be handled by themanufacturing system depends on the constraints for the task. Threetypes of constraints are defined and explained: processing constraints;feasibility constraints and geometric constraints. The symbolic plan forthe task is represented in the form of a precedence graph. High leveloperations can be converted into programs or sets of instructions tocontrol the manufacturing system's equipment. The main contributions ofTPMS are the following: to put together symbolic planning and executionplanning; it is being developed to work for complete manufacturingsystems (and not for controlling only one robot); different industrialoperations (assembly, welding, drilling, etc.) can be considered at thesame time
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