NDLI: Distributed control of industrial robot systems using Petri net based multitask processing

Content Provider	IEEE Xplore Digital Library
Author	Yasuda, G.
Copyright Year	2009
Description	Author affiliation: Department of Human and Computer Intelligence, Nagasaki Institute of Applied Science, Japan (Yasuda, G.)
Abstract	In this paper, the methods of the modeling of the discrete event robotic manufacturing systems using Petri nets are considered, and a methodology of decomposition and coordination is presented for hierarchical and distributed control, where the cooperation of each controller is implemented so that the behavior of the overall system is the same as the centralized control system and the task specification is completely satisfied. First, a task specification is defined as a Petri net model at the conceptual level, and then transformed to the detailed Petri net representation of the subtasks. Finally, the overall Petri net is decomposed and the constituent subnets are assigned to local Petri net based controllers. The controllers are coordinated so that the decomposed transitions fire at the same time by the coordinator. System coordination algorithm through communication between the coordinator and the controllers, is presented. By the proposed method, modeling, simulation and control of large and complex manufacturing systems can be performed consistently using Petri nets.
Starting Page	5633
Ending Page	5638
File Size	234029
Page Count	6
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Distributed control Electrical equipment industry Industrial control Service robots Communication system control Robot kinematics Manufacturing systems Petri nets Centralized control Manufacturing industries multitask processing coordination industrial robot systems
Content Type	Text
Resource Type	Article

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