Task planning and formal control of robotic assembly systems: A Petri net-based approach

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dc.authorid0000-0002-2780-3386
dc.contributor.authorGelen, Gokhan
dc.contributor.authorIcmez, Yasemin
dc.date.accessioned2026-02-08T15:15:08Z
dc.date.available2026-02-08T15:15:08Z
dc.date.issued2024
dc.departmentBursa Teknik Üniversitesi
dc.description.abstractIn modern industrial production, robotic assembly systems play a crucial role. As robots take on more tasks, the need for formal methods arises to define, control, and execute these tasks. This paper introduces a comprehensive approach to designing and generating control code for robotic assembly systems, taking task sequence planning into account. This methodology utilizes Petri nets (PNs) as a formal modeling and synthesis tool for the controller. Initially, the task sequences for assembly operations are represented using PN formalism. Supervisors are then synthesized for task sequence control specifications. Finally, the control code is obtained by the proposed methodology for industrial robots. By implementing this supervisory control structure, real-time control of the robotic assembly system is achieved. Experimental studies were conducted using an assembly cell equipped with an industrial robot. This methodology bridges the gap between the design and implementation of formal controllers for industrial robots. The proposed approach integrates formal methods into robot programming to leverage several advantages, including correctness assurance, complexity handling, improved documentation and clarity, enhanced safety and reliability, property verification, and scalability.
dc.identifier.doi10.1016/j.asej.2024.102804
dc.identifier.issn2090-4479
dc.identifier.issn2090-4495
dc.identifier.issue7
dc.identifier.scopus2-s2.0-85190547130
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1016/j.asej.2024.102804
dc.identifier.urihttps://hdl.handle.net/20.500.12885/5623
dc.identifier.volume15
dc.identifier.wosWOS:001240985100001
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherElsevier
dc.relation.ispartofAin Shams Engineering Journal
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzWOS_KA_20260207
dc.subjectRobotic assembly
dc.subjectRobot control
dc.subjectRobot programming
dc.subjectPetri nets
dc.subjectFormal control
dc.subjectTask planning
dc.titleTask planning and formal control of robotic assembly systems: A Petri net-based approach
dc.typeArticle

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