DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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.

[img] PDF - Only accessible within DLR


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 AuthorsAuthor's ORCID iDORCID Put Code
Rodriguez Brena, Ismael ValentinUNSPECIFIEDhttps://orcid.org/0000-0002-2310-9186UNSPECIFIED
Nottensteiner, KorbinianUNSPECIFIEDhttps://orcid.org/0000-0002-6016-6235UNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Stulp, FreekUNSPECIFIEDhttps://orcid.org/0000-0001-9555-9517UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115787
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
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 System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
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:11 Sep 2023 13:22

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.