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Bachmann, Timo und Nottensteiner, Korbinian und Roa Garzon, Máximo Alejandro (2021) Automated Planning of Workcell Layouts Considering Task Sequences. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, Seiten 12662-12668. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021-05-30 - 2021-06-05, Xi'an, China. doi: 10.1109/ICRA48506.2021.9561831. ISBN 978-172819077-8. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/9561831
Kurzfassung
The initial design of a robotic workcell layout has a large impact on the feasibility and performance of the intended robotic tasks. We define this layout design as a constrained nonlinear optimization problem that aims to optimize the placement of workcell components by minimizing the distance traveled between task sequences while maximizing the robot's manipulability. Suitable constraints guarantee the reachability as well as the absence of collisions. We solve this optimization problem via a genetic algorithm, and demonstrate it in three scenarios for a dual-arm robotic system that assembles product variants out of aluminum profiles.
| elib-URL des Eintrags: | https://elib.dlr.de/146499/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
| Titel: | Automated Planning of Workcell Layouts Considering Task Sequences | ||||||||||||||||
| Autoren: |
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| Datum: | 18 Oktober 2021 | ||||||||||||||||
| Erschienen in: | 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Nein | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||
| DOI: | 10.1109/ICRA48506.2021.9561831 | ||||||||||||||||
| Seitenbereich: | Seiten 12662-12668 | ||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||
| ISBN: | 978-172819077-8 | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | Automation Conferences Layout Planning Task analysis Collision avoidance | ||||||||||||||||
| Veranstaltungstitel: | 2021 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||
| Veranstaltungsort: | Xi'an, China | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsbeginn: | 30 Mai 2021 | ||||||||||||||||
| Veranstaltungsende: | 5 Juni 2021 | ||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Intelligente Mobilität (RM) [RO] | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Kognitive Robotik | ||||||||||||||||
| Hinterlegt von: | Bachmann, Timo | ||||||||||||||||
| Hinterlegt am: | 01 Dez 2021 12:41 | ||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:45 |
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