关键词: 装配序列规划, 模型检验, 规划领域定义语言, 谓词逻辑, 时态逻辑

Abstract: To develop new technology for mechanical Assembly Sequence Planning (ASP), the Model checking Integrated Planning System (MIPS) and Planning Domain Definition Language (PDDL) were analyzed thoroughly. Mechanical ASP problems were formally represented according to the formal definition of general intelligent planning problems. Based on the presupposition of the assembly & disassembly were reversible processes, the hard constraints and soft constraints in mechanical assembly were represented by predicate logic and temporal logic formula. According to the formal representation of ASP, the ASP domain and its concrete problems were also defined, and the procedures to solve ASP by using MIPS were presented. Experiment results showed that MIPS could implement mechanical ASP correctly and efficiently.

Key words: assembly sequence planning, model checking, planning domain definition language, predicate logic