Abstract: A new approach to process modeling, planning and control for robotic assembly is presented and this mode highlights the feature of force/torque information in assembly process. A method of evaluating the performance of assembly process and generating the optimal assembly transition sequence is researched based on the Petri nets model. Simulation and experimental results show that this method can control the robotic assembly process better.

Key words: Assembly process control, Peg-in-the-bole operation, Petri nets, Robotic assembly, Synchronized, condensation, heat transfer, surface, hybrid