NDLI: Time-suboptimal inspection task sequence planning for two cooperative robot arms using mixed optimization algorithms

Content Provider	IEEE Xplore Digital Library
Author	Bailin Cao Dodds, G.I. Irwin, G.W.
Copyright Year	1997
Description	Author affiliation: Dept. of Electr. & Electron. Eng., Queen's Univ., Belfast, UK (Bailin Cao)
Abstract	The objective of inspection task sequence planning for two robot arms is not only to find a series of common optimal final configurations, but to find a time-optimal task sequence of inspection points. The time-suboptimal final configurations are solved using a (continuous) nonlinear optimization method. The task sequence planning is formulated as a variation of the travelling salesman problem (an integer optimization) and is solved by simulated annealing. The time-suboptimal task sequence planning and time-efficient trajectory planning are integrated and the related computational problems are addressed and solved. The proposed method is applied to an environment containing two cooperative SCARA type inspection robot arms. Computations have been carried out for 4-20 moving points/cities in a route where both arms move. This is compared with completing the task with the same goal points in a route where only one arm moves. The conclusion is that it is much more efficient if two robot arms work in cooperative mode. Experiments have also been conducted on an experimental system, this gave satisfactory results which are consistent with those obtained by simulation.
Starting Page	2103
Ending Page	2108
File Size	568315
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.619273
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Inspection Robots Manipulators Optimization methods Traveling salesman problems Computational modeling Simulated annealing Trajectory Cities and towns Arm
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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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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