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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), 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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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/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Automated Planning of Workcell Layouts Considering Task Sequences | ||||||||||||||||
| Authors: |
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| 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: | Yes | ||||||||||||||||
| 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 Start Date: | 30 May 2021 | ||||||||||||||||
| Event End Date: | 5 June 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: | 24 Apr 2024 20:45 |
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