Fuzzy Petri nets to control vision system and robot behaviour under uncertain situations within an FMS cell

Abstract

The Petri net approach to modelling, monitoring and control of the behaviour of an FMS cell is shown. The FMS cell described comprises a pick and place robot, vision system, computer numerical control (CNC) drilling machine, two conveyors and a bin. The work demonstrates how a Petri net approach can be used to describe events at different levels of abstraction. Next, by utilising fuzzy logic control and Petri nets, a modelling approach using fuzzy rules based on a knowledge-based system illustrates how vision system decisions and robot behaviour within an FMS cell can be determined. This methodology can be used as a graphical modelling tool to monitor imprecise and uncertain situations, and determine the quality of the output products of an FMS cell.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>