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Path Planning of Cooperating Industrial Robots Using Evolutionary Algorithms

Larsen, Lars-Christian and Schuster, Alfons and Kim, Jonghwa and Kupke, Michael (2018) Path Planning of Cooperating Industrial Robots Using Evolutionary Algorithms. Procedia Manufacturing (17), pp. 286-293. Elsevier. DOI: 10.1016/j.promfg.2018.10.048 ISBN 2351-9789 ISSN 2351-9789

Full text not available from this repository.

Official URL: https://www.sciencedirect.com/journal/procedia-manufacturing/vol/17/suppl/C

Abstract

Nowadays, aerospace components made of carbon fiber reinforced plastics (CFRP) which are manufactured by a dry-fiber depositing process are produced almost exclusively by hand. In this type of process, hundreds of textile blanks with different contours are stored in a tool mould. For large components such as an aircraft fuselage, it is also necessary to transport the flexible blanks with cooperating robots. For this purpose, a system was developed which allows to generate robot paths on the basis of Computer Aided Design (CAD) data, which is automatically extended by information such as pickup and drop points for the robot. The system has already been successfully tested with sampling-based algorithms on a robot system with two KUKA KR210 R3100 robots on a common linear axis. However, the use of sampling-based algorithms a heuristic must be developed to solve the redundancy of linear axis which is usually only functional for the current scenario and must be adapted for another one. Evolutionary algorithms offer the advantage that they are also able to find a solution for the linear axis independent of the scenario. In this work. A path planning system that uses evolutionary algorithms to calculate collision-free paths reliably for cooperating robots on a common linear axis will be presented.

Item URL in elib:https://elib.dlr.de/123505/
Document Type:Article
Title:Path Planning of Cooperating Industrial Robots Using Evolutionary Algorithms
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Larsen, Lars-Christianlars-christian.larsen (at) dlr.dehttps://orcid.org/0000-0002-4450-8581
Schuster, AlfonsAlfons.Schuster (at) dlr.dehttps://orcid.org/0000-0002-7444-366X
Kim, Jonghwakim (at) ieee.orgUNSPECIFIED
Kupke, Michaelmichael.kupke (at) dlr.deUNSPECIFIED
Date:2018
Journal or Publication Title:Procedia Manufacturing
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1016/j.promfg.2018.10.048
Page Range:pp. 286-293
Editors:
EditorsEmail
Šormaz, DušanUNSPECIFIED
Süer, GürselUNSPECIFIED
Chen, FrankUNSPECIFIED
Publisher:Elsevier
Series Name:Procedia Manufacturing
ISSN:2351-9789
ISBN:2351-9789
Status:Published
Keywords:Path Planning Cooperating Robots Evolutionary Algorithm Sampling-based Algorithm
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:29 Nov 2018 11:47
Last Modified:29 Nov 2018 11:47

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