제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A modelling methodology for robotic workcells through knowledge base

  • Kim, Dae-Won (Robotics and Intelligent Systems Laboratory Dept. of Control and Instrumentation Engineering, Seoul National University) ;
  • Ko, Myoung-Sam (Robotics and Intelligent Systems Laboratory Dept. of Control and Instrumentation Engineering, Seoul National University) ;
  • Lee, Bum-Hee (Robotics and Intelligent Systems Laboratory Dept. of Control and Instrumentation Engineering, Seoul National University)
  • Published : 1989.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a modelling methodology for a robotic workcell is proposed and compared with the conventional Petri nets model. Also, a method for managing the cell operation is described through the knowledge base. The knowledge bases for state transition and assembly job information are obtained from the state transition map(STM) and the assembly job tree(AJT), respectively. Using the knowledge base, the system structure is discussed in both managing the cell operation and evaluating the various performance. Finally, a simulation algorithm is presented with the simulation results to show the effectiveness of the proposed modelling approach.

Keywords