Local contact state space generation using colored Petri nets

J. Rosell
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引用次数: 2

Abstract

The automatic synthesis of a plan to perform a robotized assembly task from a high level description of the product to be assembled is a difficult issue which involves assembly planning and task planning. One of the main scopes of task planning is the planning of contact motions, which usually relies on a graph representation of contact space. This paper deals with the automatic computation of the local contact space using colored Petri nets (CPN). The presented CPN model is to be integrated into a Petri net based system that copes with both planning issues, making use of the hierarchical nature of high level Petri nets.
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使用彩色Petri网生成局部接触状态空间
从待装配产品的高层次描述中自动合成执行机器人装配任务的计划是一个涉及装配规划和任务规划的难题。任务规划的主要范围之一是接触运动的规划,这通常依赖于接触空间的图表示。本文研究了用彩色Petri网(CPN)自动计算局部接触空间的方法。所提出的CPN模型将集成到一个基于Petri网的系统中,该系统利用高级Petri网的分层性质来处理这两个规划问题。
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