Abstract
This paper presents a new method for using Petri net models in order to design and implement a sequence controller for a small scale robotic cell which consists of a robotic manipulator, a variety of sensors and electro-pneumatic actuators. The proposed method leads directly to the generation of the associated Ladder Logic Diagrams (LLDs) and it has proved to be effective through the application to sequence control of a small-scale industrial system. In addition, it has reduced the period for developing, debugging and reengineering of the LLD, compared to die traditional method that directly prepares an LLD. Experimental results are included to show the effectiveness of the PN/LDD controller.
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