Petri Nets Modelling of Assembly Robots Coordination

摘要

This paper is focusing on the Petri net as a modelling tool to deal with the assembly robot's coordination. The deadlock controls in flexible assembly systems (FAS), where deadlocks are caused by unmarked siphons in their Petri nets (PNs) model. An efficient siphons PN plays an important role in preventing the deadlock of robots trajectory specifications. The model is considered to encompass all possible realizations of the assembly process execution. Efficient siphon-based methods obtained procedure is highly permissive solutions using as few control places as possible. This work utilizes in particular, systems designed for assembly robot coordination that is modelled of the PN for the control flow of in assembly robots on S3PR-net. The analyses of S3PR lead us to characterize the deadlock situation in terms of insufficiently marked siphons. Moreover, the simulation PNs are helping us to allow the high-level description of complex interactions for the automatic control modelling of assembly robots tasks based on siphon control. Siphons based the controller exhibits to be the optimal performance of the sequence assembly robots without blocking. Finally, an example is given to illustrate the effectiveness of the siphon.