Adaptive modeling of robotic assembly using augmented Petri nets

Doo Yong Lee; Seong Youb Chung; Myun Joong Hwang; Nam Soo Park

doi:10.1109/ACC.2007.4282773

Adaptive modeling of robotic assembly using augmented Petri nets

Doo Yong Lee, Seong Youb Chung, Myun Joong Hwang, Nam Soo Park

Department of Mechanical and Information Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

Robotic assembly process is modeled as a discrete event dynamic system using contact states of the workpieces and their transitions. The goal assembly state is obtained by changing the contact states. A primitive contact is defined as a relation between a vertex and an edge of two workpieces. An augmented Petri net is presented as a framework to model, plan, and control the assembly process. The augmented Petri-net assembly model is automatically built and modified on-line during the actual assembly to handle un-modeled and infeasible contact situations. Reachability graph of the assembly model is used to find sequence from the augmented Petri net model, by the weights of the arcs. The proposed method is evaluated by simulation with L-shaped peg-in-hole assembly.

Original language	English
Title of host publication	Proceedings of the 2007 American Control Conference, ACC
Pages	3600-3605
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2007.4282773
State	Published - 2007
Event	2007 American Control Conference, ACC - New York, NY, United States Duration: 9 Jul 2007 → 13 Jul 2007

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2007 American Control Conference, ACC
Country/Territory	United States
City	New York, NY
Period	9/07/07 → 13/07/07

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10.1109/ACC.2007.4282773

Cite this

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title = "Adaptive modeling of robotic assembly using augmented Petri nets",

abstract = "Robotic assembly process is modeled as a discrete event dynamic system using contact states of the workpieces and their transitions. The goal assembly state is obtained by changing the contact states. A primitive contact is defined as a relation between a vertex and an edge of two workpieces. An augmented Petri net is presented as a framework to model, plan, and control the assembly process. The augmented Petri-net assembly model is automatically built and modified on-line during the actual assembly to handle un-modeled and infeasible contact situations. Reachability graph of the assembly model is used to find sequence from the augmented Petri net model, by the weights of the arcs. The proposed method is evaluated by simulation with L-shaped peg-in-hole assembly.",

author = "Lee, {Doo Yong} and Chung, {Seong Youb} and Hwang, {Myun Joong} and Park, {Nam Soo}",

year = "2007",

doi = "10.1109/ACC.2007.4282773",

language = "English",

isbn = "1424409888",

series = "Proceedings of the American Control Conference",

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note = "2007 American Control Conference, ACC ; Conference date: 09-07-2007 Through 13-07-2007",

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AU - Lee, Doo Yong

AU - Chung, Seong Youb

AU - Hwang, Myun Joong

AU - Park, Nam Soo

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Y1 - 2007

N2 - Robotic assembly process is modeled as a discrete event dynamic system using contact states of the workpieces and their transitions. The goal assembly state is obtained by changing the contact states. A primitive contact is defined as a relation between a vertex and an edge of two workpieces. An augmented Petri net is presented as a framework to model, plan, and control the assembly process. The augmented Petri-net assembly model is automatically built and modified on-line during the actual assembly to handle un-modeled and infeasible contact situations. Reachability graph of the assembly model is used to find sequence from the augmented Petri net model, by the weights of the arcs. The proposed method is evaluated by simulation with L-shaped peg-in-hole assembly.

AB - Robotic assembly process is modeled as a discrete event dynamic system using contact states of the workpieces and their transitions. The goal assembly state is obtained by changing the contact states. A primitive contact is defined as a relation between a vertex and an edge of two workpieces. An augmented Petri net is presented as a framework to model, plan, and control the assembly process. The augmented Petri-net assembly model is automatically built and modified on-line during the actual assembly to handle un-modeled and infeasible contact situations. Reachability graph of the assembly model is used to find sequence from the augmented Petri net model, by the weights of the arcs. The proposed method is evaluated by simulation with L-shaped peg-in-hole assembly.

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U2 - 10.1109/ACC.2007.4282773

DO - 10.1109/ACC.2007.4282773

M3 - Conference contribution

AN - SCOPUS:46449089756

SN - 1424409888

SN - 9781424409884

T3 - Proceedings of the American Control Conference

SP - 3600

EP - 3605

BT - Proceedings of the 2007 American Control Conference, ACC

T2 - 2007 American Control Conference, ACC

Y2 - 9 July 2007 through 13 July 2007

ER -

Adaptive modeling of robotic assembly using augmented Petri nets

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