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Scheduling of Dual-Arm Multi-tool Assembly Robots and Workspace Layout Optimization
ABB Corporate Research, Sweden; KTH Royal Institute of Technology, Sweden.ORCID iD: 0000-0003-4126-6879
RISE Research Institutes of Sweden, Digital Systems, Data Science. (Computer Science)ORCID iD: 0000-0003-3079-8095
KTH Royal Institute of Technology, Sweden.ORCID iD: 0000-0002-6283-7004
2020 (English)In: Integration of Constraint Programming, Artificial Intelligence, and Operations Research / [ed] Emmanuel Hebrard, Nysret Musliu, Switzerland, 2020, Vol. 12296, p. 511-520Conference paper, Published paper (Refereed)
Abstract [en]

The profitability of any assembly robot installation depends on the production throughput, and to an even greater extent on incurred costs. Most of the cost comes from manually designing the layout and proramming the robot as well as production downtime. With ever smaller production series, fewer products share this cost. In this work, we present the dual arm assembly program as an integrated routing and scheduling problem with complex arm-to-arm collision avoidance. We also present a set of high-level layout decisions, and we propose a unified CP model to solve the joint problem. The model is evaluated on realistic instances and real data. The model finds high-quality solutions in short time, and proves optimality for all evaluated problem instances, which demonstrates the potential of the approach.

Place, publisher, year, edition, pages
Switzerland, 2020. Vol. 12296, p. 511-520
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 12296
Keywords [en]
Assembly manufacturing, Robot planning and scheduling, Constraint programming
National Category
Robotics
Identifiers
URN: urn:nbn:se:ri:diva-48916DOI: 10.1007/978-3-030-58942-4_33ISBN: 978-3-030-58942-4 (electronic)OAI: oai:DiVA.org:ri-48916DiVA, id: diva2:1471813
Conference
17th International Conference, CPAIOR 2020 Vienna, Austria, September 21–24, 2020
Funder
Wallenberg AI, Autonomous Systems and Software Program (WASP)Available from: 2020-09-29 Created: 2020-09-29 Last updated: 2023-10-12Bibliographically approved

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Carlsson, Mats

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