Robotic Assembly Task Planning Based on Timed Petri Nets

In this paper, the scheduling approach of robotic task planning has been discussed. Timed Petri nets are used to model the assembly activities of Flexible Assembly Cell which involves an assembly robots, a screwing robot and a machining center and the execution time of assembly activities is determined during the generation of the reachability graph. An algorithm used to determine the minimum-time paths is proposed. The simulation and experiments show that it can generate the assembly plan better.