Task planning for cooperating self-reconfigurable mobile fixtures

Włodzimierz Kasprzak , D. Zlatanov , Wojciech Szynkiewicz , Teresa Zielińska

Abstract

The work solves the problem of task and motion planning of a self-reconfigurable fixture system. A feasible solution is a key requirement for the viability of such systems, which have raised hopes of overcoming the deficiencies that more traditional fixtures are recognized to have in the dynamic conditions of modern manufacturing, with its increasing emphasis on flexibility, adaptability, and automation. The paper proposes an application-independent approach for the generation of a time-relevant action plan for the locomotion, reconfiguration, and positioning of two or more mobile robotic fixtures. The fixture agents need to provide local support for a large workpiece during machining. The path-planning problem is converted into a constraint satisfaction problem (CSP). The proposed approach is called Triple-CSP, as it applies an incremental state search to solve three hierarchical path-planning tasks for the three components of each mobile fixture agent: a supporting head, a mobile base, and a parallel manipulator. A final time-related trajectory (time scaling of actions) for the agents’ entire task execution is obtained. Thus, the planner takes into account all the relevant physical, geometrical, and time-related constraints.
Author Włodzimierz Kasprzak (FEIT / AK)
Włodzimierz Kasprzak,,
- The Institute of Control and Computation Engineering
, D. Zlatanov - [University of Genoa (UniGe)]
D. Zlatanov,,
-
- Università degli studi di Genova
, Wojciech Szynkiewicz (FEIT / AK)
Wojciech Szynkiewicz,,
- The Institute of Control and Computation Engineering
, Teresa Zielińska (FPAE / IAAM)
Teresa Zielińska,,
- The Institute of Aeronautics and Applied Mechanics
Journal seriesInternational Journal of Advanced Manufacturing Technology, ISSN 0268-3768
Issue year2013
Vol69
No9-12
Pages2555-2568
Publication size in sheets0.65
Keywords in EnglishActive supports ・ Agent system ・ Constraint satisfaction ・ Hole drilling ・ Milling ・ Mobile fixtures ・ Robotized machining ・ Task planning
ASJC Classification2209 Industrial and Manufacturing Engineering; 1706 Computer Science Applications; 2210 Mechanical Engineering; 1712 Software; 2207 Control and Systems Engineering
DOIDOI:10.1007/s00170-013-5185-5
URL http://link.springer.com/article/10.1007%2Fs00170-013-5185-5
Languageen angielski
File
Kasprzak Zlat Task.pdf 1.78 MB
Score (nominal)30
Score sourcejournalList
ScoreMinisterial score = 30.0, 06-07-2020, ArticleFromJournal
Ministerial score (2013-2016) = 30.0, 06-07-2020, ArticleFromJournal
Publication indicators WoS Citations = 4; Scopus Citations = 6; GS Citations = 6.0; Scopus SNIP (Source Normalised Impact per Paper): 2013 = 2.15; WoS Impact Factor: 2013 = 1.779 (2) - 2013=1.919 (5)
Citation count*6 (2020-08-23)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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