Parts-oriented and distributed task planning for multiple robots

Author

Nagata, Tadashi ; Hirai, Jun-ichi

Author_Institution

Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan

fYear

1993

fDate

27-29 Sep 1993

Firstpage

218

Lastpage

222

Abstract

Assembly task planning for multiple robots is highly complicated and cumbersome. A new assembly task planning system for multiple robots is proposed to avoid this problem and to improve the flexibility and the reliability in assembly tasks. In this system, parts with which a machine is composed are handled as part-objects and plans for assembling the machine are automatically generated as results of autonomous behaviors of these objects. The outline of the planning system, based on this concept is described. Some simulation results using a cooperative computational model are given

Keywords

assembling; industrial control; industrial robots; mobile robots; object-oriented methods; planning (artificial intelligence); assembly task planning system; autonomous behaviors; cooperative computational model; distributed task planning; flexibility; mobile robots; multiple robots; object oriented task planning; part-objects; parts-oriented task planning; planning system; reliability; simulation results; Assembly systems; Computational modeling; Computer science; Large-scale systems; Manipulators; Mobile robots; Parallel robots; Process planning; Robotic assembly; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 1993. Design and Operations of Intelligent Factories. Workshop Proceedings., IEEE 2nd International Workshop on

Conference_Location

Palm Cove-Cairns, Qld.

Print_ISBN

0-7803-0985-5

Type

conf

DOI

10.1109/ETFA.1993.396408

Filename

396408