关键词: 协同装配系统, 人工势场, 着色Petri网, 低压电器, 自适应量子遗传算法

Abstract: For the resource competition and disordered communication in the automation assembling of the low-voltage apparatus,the collaborative assembling method was proposed based on Color Petri Net (CPN).By utilizing the algorithm of Artificial Potential Field (APF),the cooperative interaction control was realized among robots,and an Adaptive Quantum Genetic Algorithm (AQGA) based on gradient of object function was proposed to harmoniously optimize some key parameters,such as assembling time,robot number and so on.The example of cooperation assembly on circuit breaker was established,and the efficiency of method was verified.The results showed that the collaborative assembling method could improve the flexibility in the low-voltage apparatus assembly,ensure the cooperative interaction among the assembling cells,realize the order and quick assembly of low-voltage apparatus and improve the assembling efficiency.

Key words: collaborative assembling system, artificial potential field, color Petri net, low-voltage apparatus, adaptive quantum genetic algorithm