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Abstract:
A new
approach to process modeling, planning and control for robotic assembly
is presented and this mode 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.
Key words:
Synchronized Petri nets Robotic assembly Assembly process
control Peg-in-the-bole operation
CLC No: TP242
国家863机器人柔性自动化装配网点基金资助项目. Received 20000104,
received in revised form 20000626
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