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Automated Layout Planning for Reconfigurable Robotic Assembly Cells

Bachmann, Timo (2020) Automated Layout Planning for Reconfigurable Robotic Assembly Cells. DLR-Interner Bericht. DLR-IB-RM-OP-2020-133. Bachelor's. Baden-Wuerttemberg Cooperative State University Mannheim.

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Flexible and reconfigurable robotic systems can minimize the manual effort by providing planning algorithms to react to changing requirements. An important part of the planning process is the initial design of a robotic workcell layout. The components require to be arranged in such a way that each task is reachable by the manipulator and no collisions occur. If the execution area is limited in size, several robots are involved or the tasks are complex, planning a suitable workcell layout becomes a challenging problem. In this work, we present a framework which suggests appropriate workcell layouts by analyzing the kinematic properties of tasks and workcell components such as storages and robots. We formulate a constrained nonlinear optimization problem on discrete parameter sets to optimize the layout regarding the placement of the components. The general framework provides an interface to optimize multiple objectives. In particular, we analyze the maximization of the region in the workspace in which a task could be executed. Constraints guarantee the absence of collisions and the reachability of each task. The framework is evaluated for three scenarios, where two robots have to cooperate to insert a slot-nut into an aluminum profile. The optimization problems are solved by three optimization algorithms, namely the pure random search, hill climb and genetic algorithm, where the genetic algorithm has slightly outperformed the others. A feasible layout has been found within milliseconds. The presented approach provides a powerful framework to optimize the layout of a robotic workcell for flexible systems with multiple tasks, storages and robots.

Item URL in elib:https://elib.dlr.de/137454/
Document Type:Monograph (DLR-Interner Bericht, Bachelor's)
Title:Automated Layout Planning for Reconfigurable Robotic Assembly Cells
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:14 September 2020
Refereed publication:No
Open Access:No
Keywords:robotic workcell layout optimization workspace workpiece placement problem reconfigurable intelligent autonomous flexible system dual-arm genetic algorithm
Institution:Baden-Wuerttemberg Cooperative State University Mannheim
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: Bachmann, Timo
Deposited On:12 Nov 2020 11:37
Last Modified:12 Nov 2020 11:37

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