Mathematical Modelling for Load Balancing and Minimization of Coordination Losses in Multirobot Stations
Our contributions to the solution of the load balancing problem are manifold. First, to circumvent robot coordination we have constructed disjoint robot programs, which require no coordination schemes, are more flexible, admit competitive cycle times for some industrial instances, and may be preferred in an individualized production. Second, since solving the task assignment problem for generating the disjoint robot programs was found to be unreasonably time-consuming, we modelled it as a generalized unrelated parallel machine problem with set packing constraints and suggested a tighter model formulation, which was proven to be much more tractable for a branch--and--cut solver. Third, within continuous collision detection it needs to be determined whether the sweeps of multiple moving robots are disjoint. Our solution uses the maximum velocity of each robot along with distance computations at certain robot configurations to derive a function that provides lower bounds on the minimum distance between the sweeps. The lower bounding function is iteratively minimized and updated with new distance information; our method is substantially faster than previously developed methods.
continuous collision detection
Smart Assembly 4.0
Chalmers, Matematiska vetenskaper, Tillämpad matematik och statistik
Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik
Intersection-Free Geometrical Partitioning of Multirobot Stations for Cycle Time Optimization
IEEE Transactions on Automation Science and Engineering,; (2018)
Artikel i vetenskaplig tidskrift
E. Åblad, A.-B. Strömberg, D. Spensieri Exact methods for the unrelated parallel machine problem with set packing constraints
E. Åblad, A.-B. Strömberg, D. Spensieri Exact methods for the unrelated parallel machine problem
E. Åblad, D. Spensieri, R. Bohlin, A.-B. Strömberg Efficient collision analysis of pairs of robot paths
Smart Assembly 4.0
Stiftelsen för Strategisk forskning (SSF), 2016-05-01 -- 2021-06-30.
Robotteknik och automation
Chalmers tekniska högskola
Pascal, Hörsalsvägen 1.
Opponent: Senior Lecturer Nils-Hassan Quttineh, Department of Mathematics, Linköping University, Sweden.