A constraint programming model for the scheduling and workspace layout design of a dual-arm multi-tool assembly robot

The generation of a robot program can be seen as a collection of sub-problems, where many combinations of some of these sub-problems are well studied. The performance of a robot program is strongly conditioned by the location of the tasks. However, the scope of previous methods does not include work...

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Bibliographic Details
Published in:Constraints : an international journal 2023, Vol.28 (2), p.71-104
Main Authors: Wessén, Johan, Carlsson, Mats, Schulte, Christian, Flener, Pierre, Pecora, Federico, Matskin, Mihhail
Format: Article
Language:English
Subjects:
Artificial Intelligence
Assembly
Assembly manufacturing
Computer Science
Constraint modelling
Constraint programming
Constraint theory
Dual arm
Industrial applications
Layout designs
Layouts
Machine design
Operations Research/Decision Theory
Optimization
Planning and scheduling
Programming
Robot planning
Robot planning and scheduling
Robot programming
Robot programs
Robots
Sub-problems
Task scheduling
Workspace layout design
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Description
Summary:The generation of a robot program can be seen as a collection of sub-problems, where many combinations of some of these sub-problems are well studied. The performance of a robot program is strongly conditioned by the location of the tasks. However, the scope of previous methods does not include workspace layout design, likely missing high-quality solutions. In industrial applications, designing robot workspace layout is part of the commissioning. We broaden the scope and show how to model a dual-arm multi-tool robot assembly problem. Our model includes more robot programming sub-problems than previous methods, as well as workspace layout design. We propose a constraint programming formulation in MiniZinc that includes elements from scheduling and routing, extended with variable task locations. We evaluate the model on realistic assembly problems and workspaces, utilizing the dual-arm YuMi robot from ABB Ltd. We also evaluate redundant constraints and various formulations for avoiding arm-to-arm collisions. The best model variant quickly finds high-quality solutions for all problem instances. This demonstrates the potential of our approach as a valuable tool for a robot programmer.
ISSN:1383-7133
1572-9354
1572-9354
DOI:10.1007/s10601-023-09345-4