Constraint optimization model of a scheduling problem for a robotic arm in automatic systems

Research output: Contribution to journalJournal articleResearchpeer-review

19 Citations (Scopus)

Abstract

In this paper, we investigate the problem of scheduling a 6 DOF robotic arm to carry out a sequence of spray painting tasks. The duration of any given painting task is process dependent and fixed, but the duration of an “intertask”, corresponding to the process of relocating and reorienting the robot arm from one painting task to the next one, is influenced by the order of tasks and must be minimized by the scheduler. There are multiple solutions for reaching any given painting task and tasks can be performed in either of two different directions. Further complicating the problem are characteristics of the painting process application itself. Unlike spot-welding, painting tasks require movement of the entire robot arm. In addition to minimizing intertask duration, the scheduler must strive to maximize painting quality and the problem is formulated as a multi-objective optimization problem. The scheduling model is implemented as a stand-alone module using constraint programming, and integrated with a larger automatic system. The results of a number of simulation experiments with simple parts are reported, both to characterize the functionality of the scheduler and to illustrate the operation of the entire software system for automatic generation of robot programs for painting.
Original languageEnglish
JournalRobotics and Autonomous Systems
Volume62
Issue number2
Pages (from-to)267-280
ISSN0921-8890
DOIs
Publication statusPublished - Feb 2014

Cite this

@article{183cab3202574319b4bd4e284408c377,
title = "Constraint optimization model of a scheduling problem for a robotic arm in automatic systems",
abstract = "In this paper, we investigate the problem of scheduling a 6 DOF robotic arm to carry out a sequence of spray painting tasks. The duration of any given painting task is process dependent and fixed, but the duration of an “intertask”, corresponding to the process of relocating and reorienting the robot arm from one painting task to the next one, is influenced by the order of tasks and must be minimized by the scheduler. There are multiple solutions for reaching any given painting task and tasks can be performed in either of two different directions. Further complicating the problem are characteristics of the painting process application itself. Unlike spot-welding, painting tasks require movement of the entire robot arm. In addition to minimizing intertask duration, the scheduler must strive to maximize painting quality and the problem is formulated as a multi-objective optimization problem. The scheduling model is implemented as a stand-alone module using constraint programming, and integrated with a larger automatic system. The results of a number of simulation experiments with simple parts are reported, both to characterize the functionality of the scheduler and to illustrate the operation of the entire software system for automatic generation of robot programs for painting.",
keywords = "Scheduling;, Painting quality; , Partitioned goals;, Constraint programming",
author = "Ewa Kristiansen and Smith, {Stephen F.} and Morten Kristiansen",
year = "2014",
month = "2",
doi = "10.1016/j.robot.2013.09.005",
language = "English",
volume = "62",
pages = "267--280",
journal = "Robotics and Autonomous Systems",
issn = "0921-8890",
publisher = "Elsevier",
number = "2",

}

Constraint optimization model of a scheduling problem for a robotic arm in automatic systems. / Kristiansen, Ewa; Smith, Stephen F.; Kristiansen, Morten.

In: Robotics and Autonomous Systems, Vol. 62, No. 2, 02.2014, p. 267-280.

Research output: Contribution to journalJournal articleResearchpeer-review

TY - JOUR

T1 - Constraint optimization model of a scheduling problem for a robotic arm in automatic systems

AU - Kristiansen, Ewa

AU - Smith, Stephen F.

AU - Kristiansen, Morten

PY - 2014/2

Y1 - 2014/2

N2 - In this paper, we investigate the problem of scheduling a 6 DOF robotic arm to carry out a sequence of spray painting tasks. The duration of any given painting task is process dependent and fixed, but the duration of an “intertask”, corresponding to the process of relocating and reorienting the robot arm from one painting task to the next one, is influenced by the order of tasks and must be minimized by the scheduler. There are multiple solutions for reaching any given painting task and tasks can be performed in either of two different directions. Further complicating the problem are characteristics of the painting process application itself. Unlike spot-welding, painting tasks require movement of the entire robot arm. In addition to minimizing intertask duration, the scheduler must strive to maximize painting quality and the problem is formulated as a multi-objective optimization problem. The scheduling model is implemented as a stand-alone module using constraint programming, and integrated with a larger automatic system. The results of a number of simulation experiments with simple parts are reported, both to characterize the functionality of the scheduler and to illustrate the operation of the entire software system for automatic generation of robot programs for painting.

AB - In this paper, we investigate the problem of scheduling a 6 DOF robotic arm to carry out a sequence of spray painting tasks. The duration of any given painting task is process dependent and fixed, but the duration of an “intertask”, corresponding to the process of relocating and reorienting the robot arm from one painting task to the next one, is influenced by the order of tasks and must be minimized by the scheduler. There are multiple solutions for reaching any given painting task and tasks can be performed in either of two different directions. Further complicating the problem are characteristics of the painting process application itself. Unlike spot-welding, painting tasks require movement of the entire robot arm. In addition to minimizing intertask duration, the scheduler must strive to maximize painting quality and the problem is formulated as a multi-objective optimization problem. The scheduling model is implemented as a stand-alone module using constraint programming, and integrated with a larger automatic system. The results of a number of simulation experiments with simple parts are reported, both to characterize the functionality of the scheduler and to illustrate the operation of the entire software system for automatic generation of robot programs for painting.

KW - Scheduling;

KW - Painting quality;

KW - Partitioned goals;

KW - Constraint programming

U2 - 10.1016/j.robot.2013.09.005

DO - 10.1016/j.robot.2013.09.005

M3 - Journal article

VL - 62

SP - 267

EP - 280

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

SN - 0921-8890

IS - 2

ER -