生産システムにおける知能アームロボットの競合領域の安全調停計画

抄録

In this paper, first, a color mark and color light to MFG are introduced, and propose a color light flow graph (CLFG) that writes state-indicating characters in boxes and expresses the state transition with light flow instead of mark. And a portion of the state transition graph about relay transport control of objects by 4 agents using the CLFG. Moreover, a color mark / light flow graph (CMLFG), which is a secure overlapping Petri net suitable for the representation of multiple agent / object combination actions are proposed. Finally, the discussion and consideration of the comparison between the new compact undirected arc bi-directional transition representation proposed here and the conventional directed arc uni-directional transition representation are also presented after showing a concrete example that also specifies the area, number, and colors.