Eng. & Technology, Vol.18, No.

1, 1999 Planning of Robots Cooperation:

Automatic Modelling and Control

Zbigniew A. Banaszak & Mowafak H. Abdul-Hussin, (1999), “ Planning of Robots Cooperation:

Automatic Modelling and Control,” in: Engineering and Technology Journal, Published by University
of Technology, Baghdad, Vol. 18, No.1, pp. 42- 65

Journal ISSN: 16816900 24120758

 Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control

Abstract— This paper presents an approach towards constricting a class of Place/Transition-nets for
modelling, simulation, and control of processes occurring in the flexible Assembly systems. Its objective lies
in the formal statement of the conditions allowing designing the nets consisting of viable discrete control
logic models, i.e. nets encompassing admissible control of the processes flow. We consider batch production
processes which can be decomposed into a set of transportation and assembly operations. For each
operation, required resources are identified like work-piece buffers and industrial robots. The approach
proposed is applied to a decision support system whose design and operation are outlined.
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control
Eng. & Technology, Vol.18, No.1, 1999 Planning of Robots Cooperation:
Automatic Modelling and Control