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Automatic Path Planning of Industrial Robots Comparing Sampling-Based and Computational Intelligence Methods

Larsen, Lars-Christian and Kim, Jonghwa and Kupke, Michael and Schuster, Alfons (2017) Automatic Path Planning of Industrial Robots Comparing Sampling-Based and Computational Intelligence Methods. In: Procedia Manufacturing, 11, pp. 241-248. Elsevier. International Conference on Flexible Automation and Intelligent Manufacturing (FAIM), 27.-30. Juni 2017, Modena, Italien. DOI: https://doi.org/10.1016/j.promfg.2017.07.237

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Abstract

In times of industry 4.0 a production facility should be smart. One result of that property could be that it is easier to reconfigure plants for different products which is, in times of a high rate of variant diversity, a very important point. Nowadays in typical robot based plants, a huge part of time from the commissioning process is needed for the programming of collision free paths. This mainly includes the teach-in or offline programming (OLP) and the optimization of the paths. To speed up this process significantly, an automatic and intelligent planning system is necessary. In this work we present a system which can plan paths for industrial robots. We compare widely used sampling-based methods like PRM or RRT with Computational Intelligence (CI) based methods like genetic algorithms.

Item URL in elib:https://elib.dlr.de/116098/
Document Type:Conference or Workshop Item (Speech)
Title:Automatic Path Planning of Industrial Robots Comparing Sampling-Based and Computational Intelligence Methods
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Larsen, Lars-Christianlars-christian.larsen (at) dlr.dehttps://orcid.org/0000-0002-4450-8581
Kim, Jonghwakim (at) informatik.uni-augsburg.deUNSPECIFIED
Kupke, Michaelmichael.kupke (at) dlr.deUNSPECIFIED
Schuster, AlfonsAlfons.Schuster (at) dlr.dehttps://orcid.org/0000-0002-7444-366X
Date:June 2017
Journal or Publication Title:Procedia Manufacturing
Refereed publication:Yes
Open Access:No
In DOAJ:No
In SCOPUS:No
In ISI Web of Science:No
Volume:11
DOI :https://doi.org/10.1016/j.promfg.2017.07.237
Page Range:pp. 241-248
Editors:
EditorsEmail
Pellicciari, MarcelloUNSPECIFIED
Peruzzini, MargheritaUNSPECIFIED
Publisher:Elsevier
Series Name:Procedia Manufacturing
Status:Published
Keywords:path planning, evolutionary algorithm, sampling-based algorithm
Event Title:International Conference on Flexible Automation and Intelligent Manufacturing (FAIM)
Event Location:Modena, Italien
Event Type:international Conference
Event Dates:27.-30. Juni 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Structures and Materials
Location: Augsburg
Institutes and Institutions:Institute of Structures and Design > Automation and Production Technology
Deposited By: Larsen, Lars-Christian
Deposited On:11 Dec 2017 12:14
Last Modified:14 Dec 2017 11:49

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