| Abstract: | This article presents a systematic method of modeling and implementing real-time control for discrete-event robotic systems
using Petri nets. Because, in complex robotic systems such as flexible manufacturing systems, the controllers are distributed
according to their physical structure, it is desirable to realize real-time distributed control. In this article, the task
specification of robotic processes is represented as a system control-level net. Then, based on the hierarchical approach,
it is transformed into detailed subnets, which are decomposed and distributed into the local machine controllers. The implementation
of real-time distributed control through communication between the system controller and the machine controllers on a microcomputer
network is described for a sample robotic system. The proposed implementation method is sufficiently general, and can be used
as an effective prototyping tool for consistent modeling, simulation, and real-time control of large and complex robotic systems. |
