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Full Automatic Path Planning of Cooperating Robots in Industrial Applications

Larsen, Lars-Christian and Kaspar, Manuel and Schuster, Alfons and Vistein, Michael and Kim, Jonghwa and Kupke, Michael (2017) Full Automatic Path Planning of Cooperating Robots in Industrial Applications. In: IEEE International Conference on Automation Science and Engineering. Conference on Automation Science and Engineering (CASE), 20.-23. Aug. 2017, Xian, China. doi: 10.1109/COASE.2017.8256157.

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Carbon fiber reinforced plastic (CFRP) parts for airplane components can be so huge that a single industrial robot is no longer able to handle them, and cooperating robots are required. Manual programming of cooperating robots is difficult, but with large numbers of different sized and shaped cut-pieces, it is almost impossible. This paper presents an automated production system consisting of a camera for the precise detection of the position of each cut-piece and a collision-free path planner which can dynamically react to different positions for the transfer motions. The path is planned for multiple robots adhering to motion constrains, such as the requirement that the textile cut-piece must form a catenary which can change during transport. Different existing path planning algorithms are evaluated and compared. Additionally a technique based on machine learning has been implemented which correctly resolves redundancy for a linear axis during planning. Finally, all components are tested on a real robot system in industrial scale.

Item URL in elib:https://elib.dlr.de/116394/
Document Type:Conference or Workshop Item (Speech)
Title:Full Automatic Path Planning of Cooperating Robots in Industrial Applications
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Larsen, Lars-ChristianUNSPECIFIEDhttps://orcid.org/0000-0002-4450-8581UNSPECIFIED
Schuster, AlfonsUNSPECIFIEDhttps://orcid.org/0000-0002-7444-366XUNSPECIFIED
Vistein, MichaelUNSPECIFIEDhttps://orcid.org/0000-0001-6998-0017133661166
Date:August 2017
Journal or Publication Title:IEEE International Conference on Automation Science and Engineering
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
EditorsEmailEditor's ORCID iDORCID Put Code
Reveliotis, SpiridonGeorgia Institute of TechnologyUNSPECIFIEDUNSPECIFIED
Keywords:Intelligent and Flexible Manufacturing, Motion and Path Planning, Cooperating Robots, cfrp production
Event Title:Conference on Automation Science and Engineering (CASE)
Event Location:Xian, China
Event Type:international Conference
Event Dates:20.-23. Aug. 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
Deposited By: Larsen, Lars-Christian
Deposited On:11 Dec 2017 12:21
Last Modified:21 Jul 2023 11:38

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