Decentralized robotic assembly with physical ordering and timing constraints

Schoen, T. Ryan; Rus, Daniela

doi:10.1109/iros.2013.6697191

Cited by 5 publications

(3 citation statements)

References 9 publications

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“…The aspect of offline robot programming, based on CAD data, is covered, e.g., in [7,8]. The problem of assigning resources to tasks is the subject of [9,10] whereas [11,12] deals with scheduling problems involving robots. A generic approach for planning assembly sequences is given in [13]; however, this work does not take into account the simulation of material properties.…”

Section: Introductionmentioning

confidence: 99%

A Toolchain for Automated Control and Simulation of Robot Teams in Carbon-Fiber-Reinforced Polymers Production

Körber,

Glück

2024

Applied Sciences

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This paper introduces, as a proof of concept, a tool chain for automated control and simulation of a robot team in the domain of production of carbon-fiber-reinforced polymers. The starting point is a CAD construction of a simple aviation component from which single cut pieces of carbon fiber, together withtheir properties, are extracted. Using this information and the layout of a given robot cell, various possibilities of assignments of cut pieces to grippers and robots or robot teams are determined. Subsequently, two approaches using an PDDL solver are introduced, with the goal of finding a scheduling for the lay-up process. Finally, the resulting process is simulated using a physics and rendering engine. The main purpose of this paper is to show the feasibility of such an approach; we do not concentrate on the optimization of single process steps and other details. Due to the modular structure of our approach, extensions and optimizations of the single blocks are easy to integrate. At the moment, digitization and automated control are little explored areas in the domain of production technology using pick and place processes in the aerospace industry. We think that our work will lead to further research in this direction.

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Section: Introductionmentioning

confidence: 99%

A Toolchain for Automated Control and Simulation of Robot Teams in Carbon-Fiber-Reinforced Polymers Production

Körber,

Glück

2024

Applied Sciences

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“…In the field of manipulation and assembly planning, different approaches have been described, including topics such as handing over objects from one robot to another (Koga and Latombe, 1994) and finding appropriate assembly sequences to build desired structures (Thomas and Wahl, 2001). Additionally, such topics have been addressed with mobile robots, where task allocation based on spatial deliberations play an important role (Stein et al, 2011;Schoen and Rus, 2013; Knepper et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

Modular and Domain-guided Multi-robot Planning for Assembly Processes

Nägele

Schierl

Hoffmann

et al. 2019

Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics

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Smart factories of the future will be equipped with dynamic and task-specific teams of robots in order to manufacture custom-tailored products. For this, it is necessary to facilitate the planning of appropriate task sequences for cooperating robots. In this paper, we introduce a modular and domain-guided planning approach for multiple robots. Due to its modularity, the approach can be adapted to different assembly problems. Moreover, domain knowledge is used to guide the planning towards feasible solutions. We evaluate the approach with different examples from the blocks world domain (i. e. LEGO R DUPLO R). This evaluation shows that this domain-guided approach outperforms classical planning based on state space search such as A * .

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“…The algorithm coordinates the assembly to maximizing parallelism across assembly robots and conforming to physical constraints of the structure. In a same way, [9] designed an algorithm that produces a sequence of assembly tasks while they take into account timing constraints and parts availability. [15] designed a planner that generates an assembly sequence to construct a three-dimensional product from modular units.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Autonomous Systems 13

2016

Advances in Intelligent Systems and Computing

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HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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Decentralized robotic assembly with physical ordering and timing constraints

Cited by 5 publications

References 9 publications

A Toolchain for Automated Control and Simulation of Robot Teams in Carbon-Fiber-Reinforced Polymers Production

A Toolchain for Automated Control and Simulation of Robot Teams in Carbon-Fiber-Reinforced Polymers Production

Modular and Domain-guided Multi-robot Planning for Assembly Processes

Intelligent Autonomous Systems 13

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