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/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | |||||||||||||||
Title: | Automatic Path Planning of Industrial Robots Comparing Sampling-Based and Computational Intelligence Methods | |||||||||||||||
Authors: |
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Date: | June 2017 | |||||||||||||||
Journal or Publication Title: | Procedia Manufacturing | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | No | |||||||||||||||
Gold Open Access: | 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: |
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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 (old) | |||||||||||||||
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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