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Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning

Rodriguez Brena, Ismael Valentin and Nottensteiner, Korbinian and Leidner, Daniel and Kassecker, Michael and Stulp, Freek and Albu-Schäffer, Alin (2019) Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2019.2895845 ISSN 2377-3766

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Due to shorter product life-cycles and increasing customization, production lines must be able to quickly adapt to novel product variants. This requires the automatic generation of assembly sequence plans from product specifications, as manual engineering of plans is slow and labor-intensive. The main challenge in assembly planning is that the search for a valid plan must take the capabilities of the robotic system that will execute the plan into account. But checking the feasibility of executing a plan requires a simulation of the system, which slows down the search for a valid and executable plan. We therefore propose and implement two ideas to reduce search times. First, we iteratively refine the feasibility check of an assembly plan from levels taking only parts into account (which is fast) to high-fidelity levels including motion planning and full robotic simulations which is high-fidelity, but slow). Slower levels are only checked if faster levels succeed. The second is that errors in these levels are propagated upwards as symbolic rules which prune the search tree. We demonstrate how our contributions reduce the need for high-fidelity simulations on a two-armed robotic system that assembles product variants out of aluminum profiles.

Item URL in elib:https://elib.dlr.de/126336/
Document Type:Article
Title:Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Rodriguez Brena, Ismael ValentinIsmael.RodriguezBrena (at) dlr.dehttps://orcid.org/0000-0002-2310-9186
Nottensteiner, Korbiniankorbinian.nottensteiner (at) dlr.dehttps://orcid.org/0000-0002-6016-6235
Leidner, DanielDaniel.Leidner (at) dlr.dehttps://orcid.org/0000-0001-5091-7122
Kassecker, Michaelmichael.kassecker (at) dlr.deUNSPECIFIED
Stulp, FreekFreek.Stulp (at) dlr.dehttps://orcid.org/0000-0001-9555-9517
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2019.2895845
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Assembly, Intelligent and Flexible Manufacturing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Rodriguez Brena, Ismael Valentin
Deposited On:11 Feb 2019 09:55
Last Modified:14 Dec 2019 04:23

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