Complex Robotic Systems Based On Petri Net Modeling And Analysis

The main clue of this dissertation is the combination of Petri-net theory and robot technology. Problems of complex robot systems such as gait planning and stability of humanoid robot, grasp planning of dexterous multi-fingered robot and coordination among multi-robot systems are studied deeply and systematically in this dissertation.Firstly, gait pattern of humanoid robot is designed, which makes walking process of humanoid robot more stable and closer to real people. This is proved by zero moment point (ZMP) criterion. Then a biped motion coordination control model based on timed Petri-net (TPN) is built. Simulation results of Matlab show that the motion control model and the hominine gait pattern proposed above can automatically adapt to the changeful environments, it also shows the feasibility and superiority of Petri-Net method in solving this kind of problems.Secondly, problem of grasp planning of multi-fingered dexterous hand is studied in this dissertation. Advanced generalized stochastic Petri-net (GSPN) method is used to solve the problem of grasp planning. Several important indexes such as the reach-ability, incidence matrix A, P-invariant and T-invariant, etc. are analyzed. Simulation results indicate that Petri-net is more adaptable than other methods in solving this kind of problems.In the end, problems of multi-robot systems such as robot soccer system are investigated based on the studies of individual robot. A new ball passing strategy for robot soccer is proposed by introducing a new algorithm. Questions of role switching among multi-intelligent agent cooperation in robot soccer are described based on enhanced Petri-net (EPN).Results of simulation have confirmed the feasibility and efficiency of above Petri-net method.The dissertation, which provides some theoretical guidance for planning and controlling of complex robot systems, has definite theoretical significance and practical value in a certain extent.