NDLI: Improving the sequence of robotic tasks with freedom of execution

Content Provider	IEEE Xplore Digital Library
Author	Alatartsev, S. Ortmeier, F.
Copyright Year	2014
Description	Author affiliation: Working group Comput. Syst. in Eng., Otto-von-Guericke Univ. of Magdeburg, Magdeburg, Germany (Alatartsev, S.; Ortmeier, F.)
Abstract	An industrial robot's workflow typically consists of a set of tasks that have to be repeated multiple times. A task could be, for example, welding a seam or cutting a hole. The efficiency with which the robot performs the sequence of tasks is an important factor in most production domains. In most practical scenarios, the majority of tasks have a certain freedom of execution. For example, closed-contour welding task can often be started and finished at any point of the curve. In this paper we propose a method that is able to automatically improve the given sequence of robotic tasks that allow for a certain freedom in (i) the position of the starting point along the curve, (ii) the orientation of the end-effector and (iii) the robot configuration. The proposed approach does not depend on the production domain and could be combined with any algorithm for constructing the initial task sequence.We evaluate the algorithm on a realistic case study and show that it could significantly improve the production time on the test instances from the cutting-deburring domain.
Starting Page	4503
Ending Page	4510
File Size	694107
Page Count	8
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6943200
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Optimization Kinematics Sequential analysis Vectors Welding
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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