Fully automated two-robot assembly cell

Author

Fu, Li-Chen ; Hsu, Yung-jen

Author_Institution

Dept. of Comput. Sci. & Inf. Eng., Taiwan Univ., Taiwan

fYear

1993

fDate

2-6 May 1993

Firstpage

332

Abstract

The problem of scheduling for a two-robot assembly cell is formulated, and an algorithm is proposed to resolve the problem. Such a cell is able to process more than one type of assembly task and each type can be performed more than once (usually many times). All the parts are input to the cell through a conveyor belt in a serial order. They are identified online using an overhead camera and a side camera. Both robots are identical in terms of their assembly function, i.e., each of them can perform any type of assembly task. The proposed scheduling algorithm, after integrating the online assembly planning and motion planning, optimizes the makespan performance measure

Keywords

assembling; industrial robots; manufacturing data processing; production control; production engineering computing; automated two-robot assembly cell; conveyor belt; makespan performance measure; motion planning; online production planning; production control; scheduling; serial order; Belts; Buffer storage; Costs; Councils; Motion planning; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292196

Filename

292196