Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
RobTest: A CP Approach to Generate Maximal Test Trajectories for Industrial Robots
Simula Research Laboratory, Norway.
Simula Research Laboratory, Norway.
University of Montpellier, France.
RISE Research Institutes of Sweden, Digital Systems, Data Science.ORCID iD: 0000-0003-3079-8095
Show others and affiliations
2020 (English)In: 26th International Conference on Principles and Practice of Constraint Programming, CP 2020, Springer Science and Business Media Deutschland GmbH , 2020, p. 707-723Conference paper, Published paper (Refereed)
Abstract [en]

Developing industrial robots which are safe, performant, robust and reliable over time is challenging, because their embedded distributed software system involves complex motions with force and torque control and anti-collision surveillance processes. Generating test trajectories which increase the chance to uncover potential failures or downtime is thus crucial to verify the reliability and performance of the robot before delivering it to its final users. Currently, these trajectories are manually created by test engineers, something that renders the process error-prone and time-consuming. In this paper, we present RobTest, a Constraint Programming approach for generating automatically maximal test trajectories for serial industrial robots. RobTest sequentially calls two constraint solvers: a solver over continuous domains to determine the reachability between configurations of the robot’s 3D-space, and a solver over finite domains to generate maximal-load test trajectories among a set of input points and obstacles of the 3D-space. RobTest is developed at ABB Robotics, a large robot manufacturing company, together with test engineers, who are preparing it for integration within the continuous testing process of the robots product-line. This paper reports on initial experimental results with three distinct solvers, namely Gecode, SICStus and Chuffed, where RobTest, has been shown to return near-optimal solutions for trajectories encounting for more than 80 input points and 60 obstacles in less than 5 min.

Place, publisher, year, edition, pages
Springer Science and Business Media Deutschland GmbH , 2020. p. 707-723
Keywords [en]
Global constraints, Industrial robotics, Maximal test trajectories, Path planning, Automatic test pattern generation, Collision avoidance, Constraint theory, Integration testing, Robot programming, Trajectories, Constraint programming, Constraint solvers, Continuous testing, Distributed software system, Near-optimal solutions, Potential failures, Robot manufacturing, Serial industrial robots, Industrial robots
National Category
Natural Sciences
Identifiers
URN: urn:nbn:se:ri:diva-48933DOI: 10.1007/978-3-030-58475-7_41Scopus ID: 2-s2.0-85091281034ISBN: 9783030584740 (print)OAI: oai:DiVA.org:ri-48933DiVA, id: diva2:1476657
Conference
26th International Conference on Principles and Practice of Constraint Programming, 7 September 2020 through 11 September 2020
Note

Funding details: Norges ForskningsrÃ¥d, UM-MUSE-2020, 274786; Funding text 1: This work is mainly supported by the Research Council of Norway (RCN) through the T-Largo project (Project No.: 274786). Nadjib Lazaar is supported by the project CAR (UM-MUSE-2020).

Available from: 2020-10-15 Created: 2020-10-15 Last updated: 2023-05-05Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Carlsson, Mats

Search in DiVA

By author/editor
Carlsson, Mats
By organisation
Data Science
Natural Sciences

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 78 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf