知识Petri网与机器人装配规划

介绍了知识Petri网（KPN），在柔性装配系统中基于KPN机器人装配规划的任务，以及用KPN为机器人装配规划的任务，以及用KPN为机器人装配规划建模和KPN的运行。文中论述了如何建立邻链表、构造KPN，以及最后如何运行KPN，获得最佳装配规划。最后，阐述了基于KPN的机器人装配规划系统中数据库、规划库及推理机的构造。基于KPN的机器人装配规划，与目前常用的机器人装配规划方法，如启发式搜索法AO和线性规划LP法相比，具有如下主要优点：由于将人工智能用于Petri网中，故智能强；适应性强，既适用于整套产品零件同时到达装配站，也适用于各零件分时到达装配站时的规划；算法简单，规划速度快，更适用于在线规划。

Knowledge-Based Petri Nets and Robotic Assembly Planning

Presents knowledge-based Petri nets (KPN),object of the automatic robotic assembly planning by the KPN in a flexible assembly system (FAS),and modelling with the KPN and running of the KPN. It is discussed how to establish an adjacency linked list,structure the KPN,and how to run the KPN in order to get optimal assembly planning.At the end of the paper,the structure of database,rulebase and deduction in a robotic assembly planning system is discussed. As compared with the methods of robotic assembly planning recently used,such as the heuristic search method AO' and the linear programming(LP) technique,the robotic assembly planning by the KPN developed by us has principal advantages as follows: more intelligence because of applying artificial intelligence to the Petri nets,large adaptability--adapted for parts of a product arriving at assembly station not only simultaneously,but also separately,and more adapted for planning on line owing to algorithmic simplicity and planning rapidity.