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Efficient Industrial Solution for Robotic Task Sequencing Problem With Mutual Collision Avoidance & Cycle Time Optimization
dc.contributor.author | Touzani, Hicham |
dc.contributor.author | Seguy, Nicolas |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.author | Hadj Abdelkader, Hicham |
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.author | Palomo Avellaneda, Leopold |
dc.contributor.author | Bouchafa, Samia |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2022-04-27T14:07:16Z |
dc.date.available | 2022-04-27T14:07:16Z |
dc.date.issued | 2022-04 |
dc.identifier.citation | Touzani, H. [et al.]. Efficient Industrial Solution for Robotic Task Sequencing Problem With Mutual Collision Avoidance & Cycle Time Optimization. "IEEE robotics and automation letters", Abril 2022, vol. 7, núm. 2, p. 2597-2604. |
dc.identifier.issn | 2377-3766 |
dc.identifier.uri | http://hdl.handle.net/2117/366461 |
dc.description | © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works |
dc.description.abstract | In the automotive industry, several robots are required to simultaneously carry out welding sequences on the same vehicle. Coordinating and assigning welding points between robots is a manual and difficult phase that needs to be optimized using automatic tools. The cycle time of the cell strongly depends on different robotic factors such as the task allocation among the robots, the configuration solutions and obstacle avoidance. Moreover, a key aspect, often neglected in the state of the art, is to define a strategy to solve the robotic task sequencing with an effective robot-robot collision avoidance integration. In this paper, we present an efficient iterative algorithm that generates a high-quality solution for Multi-Robotic Task Sequencing Problem. This latter manages not only the mentioned robotic factors but also aspects related to accessibility constraints and mutual collision avoidance. In addition, a home-developed planner ( RoboTSPlanner ) handling 6 axis has been validated in a real case scenario. In order to ensure the completeness of the proposed methodology, we perform an optimization in the task, configuration and coordination space in a synergistic way. Comparing to the existing approaches, both simulation and real experiments reveal positive results in terms of cycle time and show the ability of this method to be interfaced with both industrial simulation software and ROS-I tools. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.rights | Attribution 4.0 International (CC BY 4.0) |
dc.rights | © 2022 IEEE |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ |
dc.subject | Àrees temàtiques de la UPC::Enginyeria mecànica::Fabricació::Disseny i accionaments de robots |
dc.subject.lcsh | Robots--Control systems |
dc.subject.lcsh | Robotics |
dc.subject.other | Mutual Collision |
dc.subject.other | robotic |
dc.subject.other | automotive industry |
dc.subject.other | Multi-Robotic Task Sequencing Problem |
dc.title | Efficient Industrial Solution for Robotic Task Sequencing Problem With Mutual Collision Avoidance & Cycle Time Optimization |
dc.type | Article |
dc.subject.lemac | Robots--Sistemes de control |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/LRA.2022.3142919 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/9681247 |
dc.rights.access | Open Access |
local.identifier.drac | 32560876 |
dc.description.version | Postprint (published version) |
dc.relation.projectid | info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-114819GB-I00/ES/CAPACIDADES INTRINSECAS PARA ROBOTS CO-TRABAJADORES / |
local.citation.author | Touzani, H.; Seguy, N.; Suarez, R.; Hadj, H.; Rosell, J.; Palomo, L.; Bouchafa, S. |
local.citation.publicationName | IEEE robotics and automation letters |
local.citation.volume | 7 |
local.citation.number | 2 |
local.citation.startingPage | 2597 |
local.citation.endingPage | 2604 |
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