Task planning and formal control of robotic assembly systems: A Petri net-based approach
Yazarlar (2)
Bursa Teknik Üniversitesi, Türkiye
Öğr. Gör. Yasemin İÇMEZ
Tokat Gaziosmanpaşa Üniversitesi, Türkiye
| Makale Türü |
Özgün Makale
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| Makale Alt Türü | SSCI, AHCI, SCI, SCI-Exp dergilerinde yayınlanan tam makale |
| Dergi Adı | Ain Shams Engineering Journal |
| Dergi ISSN | 2090-4479 Wos Dergi Scopus Dergi |
| Dergi Tarandığı Indeksler | SCI-Expanded |
| Dergi Grubu | Q1 |
| Makale Dili | Türkçe |
| Basım Tarihi | 07-2024 |
| Cilt No | 15 |
| Sayı | 7 |
| Sayfalar | 102804 / 0 |
| DOI Numarası | 10.1016/j.asej.2024.102804 |
| Makale Linki | http://dx.doi.org/10.1016/j.asej.2024.102804 |
| Özet |
| In modern industrial production, robotic assembly systems play a crucial role. As robots take on more tasks, the need for formal methods arises to define, control, and execute these tasks. This paper introduces a comprehensive approach to designing and generating control code for robotic assembly systems, taking task sequence planning into account. This methodology utilizes Petri nets (PNs) as a formal modeling and synthesis tool for the controller. Initially, the task sequences for assembly operations are represented using PN formalism. Supervisors are then synthesized for task sequence control specifications. Finally, the control code is obtained by the proposed methodology for industrial robots. By implementing this supervisory control structure, real-time control of the robotic assembly system is achieved. Experimental studies were conducted using an assembly cell equipped with an industrial robot. This ... |
| Anahtar Kelimeler |
| Formal control | Petri nets | Robot control | Robot programming | Robotic assembly | Task planning |
Science Direct
Task planning and formal control of robotic assembly systems: A Petri net-based approach
BM Sürdürülebilir Kalkınma Amaçları
| Atıf Sayıları | |
| SCOPUS | 7 |
| Google Scholar | 6 |