A Lean Robotics Approach to the Scheduling of Robotic Adhesive Dispensing Process

Abstract

Modern implementations of industrial robots require the use of extensive knowledge and novel concepts. To bring real benefits, robotized processes must be analysed in detail. One can now observe an increasing use of lean robotics, a concept that is primarily intended to simplify processes and eliminate inefficient activities. This paper deals with industrial robot task scheduling in the adhesive dispensing process. The first part of the paper presents the modern concept of production process robotisation and reviews the literature on industrial robot task scheduling. After that, the problem of robotic adhesive dispensing on the electronic components of a printed circuit board (PCB) is presented. Another section of the paper describes the scheduling of effective and supporting tasks of the robot in the analysed process with the use of alternative dispatching rules. The determination of a schedule that is optimal in terms of the defined objective made it possible to discuss the results and reach valid conclusions. The study has confirmed that modern concepts are useful for simplifying robotic production processes.

New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints

“…It allows to determine the trajectory for elementary robot task leading TCP from the initial position to the final location 𝑝𝑝 𝑓𝑓 . Moreover, the proposed form of equation ( 9) causes that its solution given by dependency (13) fulfills boundary conditions (3). The reaching zero generalized velocities at the end of the task (second boundary condition (3)) is a consequence of reducing TCP velocity to zero and full rank of Jacobian matrix.…”

“…The general idea of the proposed approach is assumption that scaling coefficient is equal to 1 if condition ( 5) is fulfilled and it is reduced if 𝑖𝑖-th acceleration exceeded its limit, i.e. If at a certain time instant only one acceleration exceeds its limit then value of 𝑐𝑐̂ takes the value equal to the right side of corresponding inequality (1)(2)(3)(4). If more than one acceleration does not meet the constraints three cases need to be taken into account: In this case, it seems reasonable to choose 𝑐𝑐̂ as the value closest to the value of this coefficient determined at the previous time instant.…”

“…The dynamic changes taking place in the organization of production process and the challenges posed by the fourth industrial revolution, known as Industry 4.0, force a change in the approach to planning the tasks of industrial robots [1,2]. There are many works presenting concepts for implementing robotic systems, such as the use of lean robotics [3], which allows for the elimination of inefficient activities, or the implementation of modern robotic systems (called cobots) to carry out selected activities in human-robot teams [4]. The introduction of the idea of Industry 4.0 also requires the development of algorithms enabling the autonomous operation of robots performing certain technological operations.…”