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采用扩展Ｐｅｔｒｉ网对柔性自动化装配过程进行建模，研究了任务级上的装配路径规划方法并得出装配成功所必需的变迁路径，该方法可以用于产生具体的装配命令并可在不确定性存在收敛到最终的装配状态
The extended Petri nets are used to model the process of flexible automated assembly. The method of assembly path planning at task level is studied and the path of change necessary for assembly success is obtained. The method can be used to generate specific assembly commands and can be used in uncertainties There is convergence to the final assembly state