Scheduling of mobile robots for transportation and manufacturing tasks

Dang, Quang-Vinh; Nguyen, Cong T.; Rudová, Hana

doi:10.1007/s10732-018-9391-z

Cited by 30 publications

(7 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In recent years, intelligent and flexible manufacturing has motivated the development of autonomous mobile robots for workpiece and equipment handling and transportation [1,2], and in particular, automated guided vehicle (AGV) technology is widely studied and applied [3][4][5][6][7]. The omni-directional mobile AGV with Mecanum-wheeled robot platform, which has good driving force and easy control performance, can improve the utilization of workshop space and the efficiency of workshop transportation, and is very appropriate for transporting heavy goods in complex industrial environments [8,9].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Dai

et al. 2019

Sensors

View full text Add to dashboard Cite

In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single-and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.Sensors 2020, 20, 75 2 of 37 robot called MC-Drive, and the MC-Drive TP200 robot has been used to carry aircraft at Airbus manufacturing plants [13,14]. The KUKA omniMove UTV-2 set is a heavy-duty mobile platform with 12 Mecanum wheels that can be used to carry large objects [15]. (2) Using a combination of multiple Mecanum-wheeled robot platforms, which can be considered as a whole with cooperative omnidirectional motion and transport. Usually, mobile platforms used for cooperative transportation are symmetrically arranged. For example, a railcar body can be carried cooperatively by four KUKA omniMove mobile platforms at the Siemens plant in Krefeld, Germany [16]. The four mobile platforms are symmetrically arranged at four corners of the railcar body. Omni-directional mobile platforms with 8, 12, 16, or 32 Mecanum wheels can also be considered as specific combinations of multiple basic mobile platforms.The mature basic theory of four-Mecanum-wheeled robots is the basis of research on multi-robot systems. Muir [17][18][19] carried out basic research on Mecanum-wheeled robots and developed a kinematic and dynamic model and control on a four-Mecanum-wheeled robot. Campion et al. [20] studied structural properties and classification of kinematic and dynamic models of mobile wheeled robots and derived a motion constraint equation of a Mecanum wheel that can be used in kinematic research of multiple Mecanum-wheeled robots. Robots with four or more Mecanum wheels are overactuated systems with one or more motion constraints (wheel velocities are linearly correlated). Every additional wheel, and every additional robot, adds new motion constraints. So, the motion constraints of a multiple-Mecanum-wheeled robot system can be developed [21], which is also valid for multi-robot systems. The problem of transporting objects with a combined system is also a typical cooperative object transport problem in multi-robot systems, which is a growing rese...

show abstract

Section: Introductionmentioning

confidence: 99%

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Dai

et al. 2019

Sensors

View full text Add to dashboard Cite

show abstract

“…-Pareto Dang et al [28] e FJS consists of material handling devices such as AGVs or mobile robots A MIP model lay in consideration of three interrelated sub-problems (the computing the sequence of operations on machines, the robot assignment for transportation, and the robot assignment for processing) was formulated to minimize the Makespan.…”

Section: Feng Et Al [27] Fjs Two-agentsmentioning

confidence: 99%

Critical Review on the Objective Function of Flexible Job Shop Scheduling

Pei

Zhang

Mei

et al. 2022

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The nature of construction and formulation of the multi-objective functions in the flexible job shop (FJS) provides great insights about the study of the technique and the mechanism in scheduling helping to prioritize efforts for optimizing the manufacturing execution performance, which draw the focus of the researchers at home and abroad. From the perspective of the model, the solution method and the objective function, this paper reviews and analyzes the related academic papers and conferences articles during past few years. As a result, the construction forms of the multi-objective function and the scheduling scenarios show strongly positive correlation with the Makespan, the delivery tardiness, the energy consumption or the cost. Consequently, facing with the characteristic in a general way, the detailed construction analysis on the function for the flexible job shop scheduling problem (FJSP) is critical reviewed, and a total 6 types with 49 kinds classification are discussed. Obviously, the main goals are to summarize, analyze, discuss, and synthesize the existing achievements, the current research status, and the ongoing studies on the FJSP functions construction, and additionally to give useful insight into future research. Combined with the development trend of the intelligent manufacturing and the operations research, arguing for the formulation of the multi-obj. function, this review is expected to contribute to the future research of FJSP.

show abstract

“…Assim, é imprescindível a utilização de métodos heurísticos para encontrar uma solução satisfatória para problemas de grande porte (CHEN et al, 2020, DANG;NGUYEN;RUDOVÁ, 2019, FRAGAPANE et al, 2021, GOLDBERG, 1989NIELSEN et al, 2014, RYCK et al, 2020.…”

Section: Introductionunclassified

Heurística De Vizinhança Variável Para Programação De Robôs Móveis Autônomos Em Ambiente De Manufatura Flexível

VIEIRA

Taglialenha

2022

Anais Do Encontro Nacional De Engenharia De Produção

View full text Add to dashboard Cite

Scheduling of mobile robots for transportation and manufacturing tasks

Cited by 30 publications

References 20 publications

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Critical Review on the Objective Function of Flexible Job Shop Scheduling

Heurística De Vizinhança Variável Para Programação De Robôs Móveis Autônomos Em Ambiente De Manufatura Flexível

Contact Info

Product

Resources

About