Generation of optimal operating strategies for robotic cells: a Petri net approach

Abstract

This paper presents a methodology for generating optimal operating strategics for robotic cells. The methodology is built on two techniques: stochastic Petri net and Markov decision process. The operating strategy devised with the proposed methodology is deadlock-free and provides the best performance given a set of systems parameters (machines, parts, machining times, transportation times and so on). Generation of programmable logic controller (PLC) codes is greatly facilitated as the generated operating strategy can be mapped directly to n ladder diagram representation of the PLC code. In this paper, both the stochastic Petri net and Markov decision process techniques are discussed. An example is provided to illustrate the methodology.