Sequential path search using RTA* and parallel path search in sequence control program

摘要

How to automatically describe the sequence control program is discussed in this paper. At first, a way to search the actuator motion sequence using the RTA * algorithm in a sequence control program is explained. Then, an algorithm of finding the parallel path divergence from the results searched by the RTA * algorithm is proposed. Finally, the feasibility of the proposed methods are confirmed and shown by simulation.