NDLI: Local contact state space generation using colored Petri nets

Content Provider	IEEE Xplore Digital Library
Author	Rosell, J.
Copyright Year	2002
Description	Author affiliation: Inst. d'Organitzacio i Control de Sistemes Industrials, Univ. Politecnica de Catalunya, Barcelona, Spain (Rosell, J.)
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.
Sponsorship	Universidad de Zaragoza Comision Interministerial de Ciencia y Tecnologia (CICYT) IEEE Control Syst. Soc
Starting Page	143
Ending Page	148
File Size	310931
Page Count	6
File Format	PDF
ISBN	0769516831
DOI	10.1109/WODES.2002.1167681
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-10-04
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Robotic assembly Assembly systems Petri nets Power system planning Automatic control Robot sensing systems Discrete event systems State-space methods Orbital robotics
Content Type	Text
Resource Type	Article

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