Application example: robotized inspection cell
Petri net controllers - Implementation and application

The illustration of the resolution of a real-time control problem for a complex system is based on the process shown in figure 7 . This is a model of a robotized control center for manufactured products. The system comprises a robot, two conveyor belts and an indexing table around which seven metrology control stations are arranged. The table can rotate through one eighth of a revolution. This means that there are eight zones where a part can be placed on the table. When stopped on the indexing table, seven zones are opposite the seven control stations, while the eighth zone can be accessed by the robot to deposit or remove a part.