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Scheduling approaches for robotic assembly tasks

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2 Author(s)
Sutdhiraksa, S. ; Lab. for Robotics & Intelligent Syst., Swinburne Univ. of Technol., Melbourne, Vic., Australia ; Zurawski, R.

In this paper, we present an approach to robotic assembly task scheduling which yields suboptimal solutions. The robotic assembly system involves two robot arms working in the same workspace. The collision free operation of the two robot arms is guaranteed by the use of the uniform cell decomposition approach. Timed Petri nets are used to model the assembly activities. The execution times of the assembly activities are determined during the generation of the reachability graph. Several approaches used to generate the reachability graph and determine the minimum-time paths are proposed

Published in:

Emerging Technologies and Factory Automation, 1996. EFTA '96. Proceedings., 1996 IEEE Conference on  (Volume:2 )

Date of Conference:

18-21 Nov 1996