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A generalised multi-attribute task sequencing approach for robotics optical inspection systems
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Vitolo, F., Franciosa, Pasquale, Ceglarek, Darek, Pantalano, S. and De Martino, M. (2019) A generalised multi-attribute task sequencing approach for robotics optical inspection systems. In: 2019 II Workshop on Metrology for Industry 4.0 and IoT (MetroInd4.0&IoT), Naples, Italy, 4-6 Jun 2019. Published in: 2019 II Workshop on Metrology for Industry 4.0 and IoT (MetroInd4.0&IoT) ISBN 9781728104300. doi:10.1109/METROI4.2019.8792869
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WRAP-A-generalised-multi-attribute-robotics-optical-Ceglarek-2019.pdf - Accepted Version - Requires a PDF viewer. Download (1593Kb) | Preview |
Official URL: http://doi.org/10.1109/METROI4.2019.8792869
Abstract
Robot programming usually consists of four steps: (1) task planning; (2) task sequencing; (3) path planning and (4) motion planning. Task (2) and (3–4) are strongly coupled. For example, the optimal robot path, which is function of the robot kinematics, relies on the pre-defined schedule of tasks, whose sequencing is computed based on the assumption that the travelling “cost” from one task to the next is only driven by the Euclidean distance in Cartesian space. Current methods tends to decouple the problem and sequentially compute the task sequencing in the T-space, and then compute the robot path by solving the inverse kinematics in the C-space. However, those approaches suffer the capability to reach a global optimum. This paper aims at developing a novel approach which integrates some of the key computational requirements of the path planning in the early stage of the task sequencing. Multi-attribute objectives are introduced to take into account: robot pose and reachability, data quality, obstacles avoidance, overall cycle time. The paper introduces a novel multi-attribute approach to find the optimized task sequencing via candidate poses solving inverse kinematics in the T-space. This is based on the core idea to combine T-space and C-space. The proposed solution has been tested on a vision-based inspection robot system with application to automotive body assembly systems. Results could however impact a wider area, from navigation systems, game and graph theory, to autonomous driving systems.
Item Type: | Conference Item (Paper) | ||||||||||||
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Subjects: | T Technology > TJ Mechanical engineering and machinery | ||||||||||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||||||||
Library of Congress Subject Headings (LCSH): | Robots -- Programming , Autonomous robots , Robot vision | ||||||||||||
Journal or Publication Title: | 2019 II Workshop on Metrology for Industry 4.0 and IoT (MetroInd4.0&IoT) | ||||||||||||
Publisher: | IEEE | ||||||||||||
ISBN: | 9781728104300 | ||||||||||||
Official Date: | 12 August 2019 | ||||||||||||
Dates: |
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DOI: | 10.1109/METROI4.2019.8792869 | ||||||||||||
Status: | Peer Reviewed | ||||||||||||
Publication Status: | Published | ||||||||||||
Reuse Statement (publisher, data, author rights): | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | ||||||||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||||||||
Date of first compliant deposit: | 27 August 2019 | ||||||||||||
Date of first compliant Open Access: | 28 August 2019 | ||||||||||||
RIOXX Funder/Project Grant: |
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Conference Paper Type: | Paper | ||||||||||||
Title of Event: | 2019 II Workshop on Metrology for Industry 4.0 and IoT (MetroInd4.0&IoT) | ||||||||||||
Type of Event: | Conference | ||||||||||||
Location of Event: | Naples, Italy | ||||||||||||
Date(s) of Event: | 4-6 Jun 2019 |
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