抄録
This paper describes the design and implementation of distributed cooperative control of industrial robot systems using Petri net modeling. For robotic task specification, the work at the manufacturing cell is divided into several unit operations, and the partial order relation of unit operations, such as synchronized operation, parallel operation and so on, is described based on common Petri net technique. The Petri net function is enhanced so that it may not move the tokens until the operation, shown by each place, is finished, even if the marking satisfies the ignition condition. Petri net based real-time distributed cooperative control of industrial robot systems using a Petri net simulator is implemented and experimental results show the effectiveness of the control scheme.
