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Model Based Hierarchical and Distributed Control of Discrete Event Robotic Systems using Extended Petri Nets
Gen’ichi Yasudaa
Pages - 27 - 41     |    Revised - 31-03-2011     |    Published - 04-04-2011
Volume - 2   Issue - 1    |    Publication Date - March / April 2011  Table of Contents
Robotic Systems, Manufacturing Process Control, Implementation, Petri Nets
This paper deals with the modeling and control of discrete event robotic systems using extended Petri nets, and proposes a methodology of model based design and implementation of hierarchical and distributed control. Based on the hierarchical approach, the Petri net is translated into the detailed Petri net by stepwise refinements from the highest conceptual level to the lowest machine control level. The coordinator is introduced to coordinate the distributed controllers so that the decomposed transitions fire at the same time. System coordination algorithm through communication between the coordinator and the controllers, is implemented using multithread programming. By the proposed method, modeling, simulation and control of large and complex robotic systems can be performed consistently using Petri nets.
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Dr. Gen’ichi Yasudaa
- Japan