Multi-robot spot-welding cells for car-body assembly: Design and motion planning

Pellegrinelli, Stefania; Pedrocchi, Nicola; Tosatti, Lorenzo Molinari; Fischer, Anath; Tolio, Tullio

doi:10.1016/j.rcim.2016.08.006

Cited by 62 publications

(33 citation statements)

References 29 publications

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“…In [19], the collision-free trajectories of two collaborative robot manipulators are planned using a new fuzzy genetic algorithm. Furthermore, path planning has been incorporated into a design problem for car-body assembly [20]. Generalized planning methods can be found in [21].…”

Section: A Related Workmentioning

confidence: 99%

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A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station

Xin

Meng

Schulte

et al. 2020

IEEE Trans. Ind. Inf.

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This paper investigates a new collision-free routing problem of a multi-robot system. The objective is to minimize the cycle time of operation tasks for each robot while avoiding collisions. The focus is set on the operation of the end effector and its connected joint, and the operation is projected onto a circular area on the plane. We propose to employ a time-space network (TSN) model that maps the robot location constraints into the route planning framework, leading to a mixed integer programming (MIP) problem. A dedicated genetic algorithm is proposed for solving this MIP problem and a new encoding scheme is designed to fit the TSN formulation. Simulation experiments indicate that the proposed model can obtain the collision-free route of the considered multi-robot system. Simulation results also show that the proposed genetic algorithm can provide fast and high-quality solutions, compared to two state-of-the-art commercial solvers and a practical approach.

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Section: A Related Workmentioning

confidence: 99%

“…Equation 18is the mapping constraint between the time-space network and the physical network. Constraints (19)- (20) guarantee the continuity of the arrival time and the departure time for robot k when visiting arc (i, j).…”

Section: B Modeling Using a Tsn Modelmentioning

confidence: 99%

A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station

Xin

Meng

Schulte

et al. 2020

IEEE Trans. Ind. Inf.

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“…Recently, Pelleginelli et. al, proposed an extended formalisation of design and motion planning problems for spot-welding multi-robot cells [16]. However, both solutions only considered previously selected equipment or reduced features and did not include the optimal selection of such equipment.…”

Section: Related Workmentioning

confidence: 99%

Poses Optimisation Methodology for High Redundancy Robotic Systems

Tavares

Costa

Veiga

et al. 2017

ROBOT 2017: Third Iberian Robotics Conference

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The need for efficient automation methods has prompted the fast development in the field of Robotics. However, most robotic solutions found in industrial environments lack in both flexibility and adaptability to be applied to any generic task. A particular problem arises when robots are integrated in work cells with extra degrees of freedom, such as external axis or positioners. The specification/design of high redundancy systems, including robot selection, tool and fixture design, is a multi-variable problem with strong influence in the final performance of the work cell. This work builds on top of optimisation techniques to deal with the optimal poses reachability for high redundancy robotic systems. In this paper, it will be proposed a poses optimisation approach to be applicable within high redundancy robotic systems. The proposed methodology was validated by using real environment existent infrastructures, namely, the national CoopWeld project.

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“…systems, Glorieux et al proposed a novel methodology including velocity tuning and time delays to determine productivity or energy-optimal coordinated trajectories, and experimental results showed the methodology was competitive [3,4]. What is more, based on discretized coordination space, Montano et al described a method for the online temporal coordination of multiple robots in a shared workspace whose paths were computed independently, and the method was applied successfully by simulation and experiment [5][6][7][8]. Besides, based on a combination of simulation-based optimization and time-synchronized hardware-in-the-loop simulation, Svensson et al introduced an off-line parameter tuning method for an automotive sheet metal press line, and case study verified the method successfully [9,10].…”

Section: Introductionmentioning

confidence: 99%

Simulation-based multi-machine coordination for high-speed press line

Wang

Zhang

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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Multi-machine coordination is a crucial issue to obtain high working rate and trajectories of collision avoidance in the dynamic compact environment for high-speed press line. This paper proposed a method based on simulation in MATLAB to coordinate multiple machines in auto-body-panel stamping line and verify the correctness of simulation results simultaneously. The proposed method consists of variable-period phase delay and minimum safe distance based on Dijkstra algorithm, which are used to achieve multi-machine coordination and collision avoidance, respectively. MATLAB-ADAMS co-simulation of auto's side-frame outer panel has been taken as an example to illustrate and confirm the efficiency of the proposed method. Meanwhile, the optimal results obtained from the proposed method are better than the previous simulation results under the same technical requirements. In addition, the proposed method combines programming with simulation in MATLAB, which can verify results timely and provide a guide for presenting the status of high-speed press lines at one moment in the graphical user interface.

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Multi-robot spot-welding cells for car-body assembly: Design and motion planning

Cited by 62 publications

References 29 publications

A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station

A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station

Poses Optimisation Methodology for High Redundancy Robotic Systems

Simulation-based multi-machine coordination for high-speed press line

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