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Automated Planning of Workcell Layouts Considering Task Sequences

Bachmann, Timo and Nottensteiner, Korbinian and Roa Garzon, Máximo Alejandro (2021) Automated Planning of Workcell Layouts Considering Task Sequences. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, pp. 12662-12668. 2021 IEEE International Conference on Robotics and Automation (ICRA), 30.05 - 05.06.2021, Xi'an, China. doi: 10.1109/ICRA48506.2021.9561831. ISBN 978-172819077-8. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/abstract/document/9561831

Abstract

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.

Item URL in elib:https://elib.dlr.de/146499/
Document Type:Conference or Workshop Item (Speech)
Title:Automated Planning of Workcell Layouts Considering Task Sequences
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Bachmann, TimoTimo.Bachmann (at) dlr.deUNSPECIFIED
Nottensteiner, Korbiniankorbinian.nottensteiner (at) dlr.dehttps://orcid.org/0000-0002-6016-6235
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Date:18 October 2021
Journal or Publication Title:2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICRA48506.2021.9561831
Page Range:pp. 12662-12668
ISSN:1050-4729
ISBN:978-172819077-8
Status:Published
Keywords:Automation Conferences Layout Planning Task analysis Collision avoidance
Event Title:2021 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Xi'an, China
Event Type:international Conference
Event Dates:30.05 - 05.06.2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intelligent Mobility (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Bachmann, Timo
Deposited On:01 Dec 2021 12:41
Last Modified:25 Mar 2022 10:27

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