摘要
采用同步Petri网对机器人自动化装配过程进行建模 ,更加全面地反映了装配状态变迁过程中的力 /位姿信息特征 ,在此基础上研究了任务级上装配状态变迁路径的评价方法及优化算法 ,该方法可用于指导产生具体的装配命令并可在不确定性存在时收敛到最终装配状态。
A new approach to process modeling,planning and control for robotic assembly is presented and this model highlights the feature of force/torque information in assembly process.A method of evaluating the performance of assembly process and generating the optimal assembly transition sequence is researched based on the Petri nets model.Simulation and experimental results show that this method can control the robotic assembly process better.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2001年第4期33-37,56,共6页
Journal of Mechanical Engineering
基金
国家 8 6 3机器人柔性自动化装配网点基金资助项目! (86 3 5 12 972 0 0 4
关键词
同步Petri网
机器人装配
装配过程控制
销孔装配
Synchronized Petri nets Robotic assembly Assembly process control Peg in the hole operation
