关键词: 机器人装配　接触状态　模糊Petri网　平面小孔装配

Abstract: A fuzzy Petri net model to deal with the monitoring and planning of robotic assembly is presented. First, multiple types of sensor signals are converted to the same form of real values between 0 and 1 using fuzzy methods, and then weight factors and priorities of sensor signals are introduced to deal with the contradiction among the number, high degree of truth and important degree of input conditions. Furthermore, dynamic information of assembly is deeply studied to strengthen the ability of the model to converge. On the basis of the works above, an efficient composite reasoning mode is constructed to perform the automatic monitoring and planning of robotic assembly. Finally, a peg-in-the-hole example is given to illustrate the reasonability and feasibility of the proposed model.

Key words: Contact states, Fuzzy Petri nets, Peg-in-the-hole, Robotic assembly