Assembly-disassembly flexible lines and collaborative robots considered as hierarchical systems in temporal recurrent modelling

摘要

This article proposes a temporal recurrent approch of hierarchical systems modeling, symplifing prevoius tools in thies area of th authors. The states of the systems are supposed known for system functioning at every occurence moment. In addition to them, appear external events for nonautonomus system sysncronisation {s <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">i</sub> }, with transitions in Temporised Recurrent Petri Nets (TRecPN) model. The sysncronised signals are defined on an assembly of subsets, conditioned by the moment of occurence and the temporal interval when are expected in network. This approch permits an hierarchical approch on levels of Petri Net model. The refining process of the model is made on horisontal. In each place is a PN model, each one is linked with a distinct temporal interval represented by a syncronised signals subset. In an explected syncronised signal doesn't appears, the model functioning will be stoped. Each level is linked with a LIFO object placed on a lower level dedicated to the transfer of the last state reache by the system. In this context, two type of applications are proposed: (a) recurrent detection function modelling; (b) manufacturing system served by colaborative robots support.