基于时间Petri网的多机器人协调操作研究  

Study of the cooperation of multi-robots by using timed Petri nets

作　　者：钱东海[1] 张建明[1] 

机构地区：[1]上海大学精密机械系,上海200072

出　　处：《组合机床与自动化加工技术》2004年第9期18-20,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：上海市教委青年科学基金资助项目 (0 1QN60 )

摘　　要：多机器人协调操作是一直是机器人控制中一个比较复杂的问题 ,文章在深入分析、研究时间Petri网特性和多机器人协调操作控制规律的基础上 ,给出基于时间Petri网的多机器人协调操作模型建立的一般方法 。Cooperation of multi-robots is a kind of hard to solve problem in the research of robot control. In this paper, after carrying out a detailed analysis and research of timed petri nets, as well as the problem of multi-robots cooperation, we present a general method for modeling the cooperation of multi-robots by using timed petri nets, and a algorithm for generating the optimum operating sequence of the cooperating multi-robots.

关 键 词：时间PETRI网 多机器人 协调操作 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]