Design and optimization of automatic rebar binding control flow based on Petri net
Aiming at a three-axis automatic steel bar binding robot built with PLC as the controller,the operation process was modularly modeled according to the binding process and the actual situation of the robot.The correlation matrix was established by using the Petri net which is optimized in an inverse modular way,and the accuracy of the control process was judged by using the T invariant,and the automatic rebar binding control program with a stable body,obvious boundary and strong accessibility was designed.The control program can realize the identification and positioning of the binding point by the three-axis binding robot,which can effectively improve the design efficiency and save the debugging time.
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