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A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks [article]

Jan Kristof Behrens, Ralph Lange, Masoumeh Mansouri
2019 arXiv   pre-print
We propose a constraint programming approach to simultaneous task allocation and motion scheduling for such industrial manipulation and assembly tasks.  ...  Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers.  ...  The authors thank the project Robotics for  ... 
arXiv:1901.07914v1 fatcat:l3u2qg2aznaozh5amtwh6yyvwq

A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks

Jan Kristof Behrens, Ralph Lange, Masoumeh Mansouri
2019 2019 International Conference on Robotics and Automation (ICRA)  
We like to thank the researchers of the Robotic perception group (ROP) at the Czech Institute of Informatics, Robotics and Cybernetics (CIIRC CTU) for providing the KUKA simulation environment.  ...  Conclusion and Future Work In this paper, We have proposed a flexible model and solver for simultaneous task allocation and motion scheduling (STAAMS) for industrial manipulation and assembly tasks for  ...  Computing an optimal plan requires to treat the aspects scheduling, allocation and motion planning in a highly integrated and coherent manner, which we refer to as simultaneous task allocation, and motion  ... 
doi:10.1109/icra.2019.8794022 dblp:conf/icra/BehrensLM19 fatcat:kulhal3cv5eifc3yy6p3m4jnyi

Coordination of two robotic manipulators for object retrieval in clutter [article]

Jeeho Ahn, ChangHwan Kim, Changjoo Nam
2021 arXiv   pre-print
However, the precedence constraint between the tasks (e.g, some objects at the front should be removed to manipulate the objects in the back) makes the simultaneous task execution difficult.  ...  We propose a coordination method that determines which robot relocates which object so as to perform tasks simultaneously.  ...  The methods proposed in [19] , [20] integrate task allocation and motion scheduling for task optimization for dual-arm coordination.  ... 
arXiv:2109.15220v1 fatcat:ozpmundlerhinj46q6n6py6ibu

A force/motion control approach based on trajectory planning for industrial robots with closed control architecture

Alejandro GutierreznGiles, Luis U. EvangelistanHernandez, Marco A. Arteaga, Carlos A. CruznVillar, Alejandro RodrigueznAngeles
2021 IEEE Access  
ACKNOWLEDGMENT The authors thank to Jesús Bañuelos and Andrés González for their help in constructing the experimental setup.  ...  Another approach that considers spatial and temporal constraints for dual-arm manipulation tasks is the so called STAAMS (Simultaneous Task Allocations and Motion Scheduling) , which focuses on planning  ...  To accomplish a dual-arm manipulation task, coordinated or uncoordinated approaches can be considered [10] .  ... 
doi:10.1109/access.2021.3085528 fatcat:vjetl3eh7vbvng3rjcdh7dg54y

Symbiotic human-robot collaborative assembly

L. Wang, R. Gao, J. Váncza, J. Krüger, X.V. Wang, S. Makris, G. Chryssolouris
2019 CIRP annals  
In human-robot collaborative assembly, robots are often required to dynamically change their pre-planned tasks to collaborate with human operators in a shared workspace.  ...  In response to this need, multi-modal yet symbiotic communication and control methods have been a focus in recent years.  ...  Acknowledgements The authors wish to thank Franz Dietrich, Zsolt Kemény and Stefania Pellegrinelli for their contributions to this keynote paper.  ... 
doi:10.1016/j.cirp.2019.05.002 fatcat:5tykgsgqcrhbrmdv4mft3buloe

Combining Task and Motion Planning: Challenges and Guidelines

Masoumeh Mansouri, Federico Pecora, Peter Schüller
2021 Frontiers in Robotics and AI  
Combined Task and Motion Planning (TAMP) is an area where no one-fits-all solution can exist.  ...  By doing so, this article aims to provide a guideline for designing combined TAMP solutions that are adequate and effective in the target scenario.  ...  All authors listed have made a substantial, direct, and intellectual contribution to the work and approved it for publication.  ... 
doi:10.3389/frobt.2021.637888 pmid:34095239 pmcid:PMC8170405 fatcat:4dmykcbhezbktfjzafv7t7wjfa

Control Techniques for Safe, Ergonomic, and Efficient Human-Robot Collaboration in the Digital Industry: A Survey

Silvia Proia, Raffaele Carli, Graziana Cavone, Mariagrazia Dotoli
2021 IEEE Transactions on Automation Science and Engineering  
An assistive force can In contrast to the majority of the existing studies for be applied by an active robot according to a similar task. scheduling and allocating  ...  The human factor constraints, such as the human arm muscular manipulability.  ... 
doi:10.1109/tase.2021.3131011 fatcat:w7zm7vlqfnhzheanevg6x3toxm

Operator - mobile robot collaboration for synchronized part movement

Aswin KRamasubramanian, NikolaosPapakostas
2021 Zenodo  
They may be used for transferring parts from one place to another, as well as for assisting the operator in a series of tasks, by utilizing the dexterity of their arm and end effector.  ...  This paper focuses on the development of a novel approach that allows the handling and transportation of parts through the simultaneous operation of human operators and mobile robots.  ...  Acknowledgements This work has been partially supported by the H2020 research project SHERLOCK "Seamless and safe human centered robotic applications for novel collaborative workplaces" (Grant Agreement  ... 
doi:10.5281/zenodo.5579589 fatcat:psdrrlvrxrhsvfisy2gboplc5u

2020 Index IEEE Transactions on Automation Science and Engineering Vol. 17

2020 IEEE Transactions on Automation Science and Engineering  
Ham, A., TASE April 2020 957-965 Incorporation of Contingency Tasks in Task Allocation for Multirobot Teams.  ...  Wu, X., +, TASE April 2020 823-832 A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators.  ...  ., +, TASE July 2020 1237 -1249 Comments and Corrections to "Process Mining to Discover Shoppers' Pathways at a Fashion Retail Store Using a WiFi-Base Indoor Positioning System" [Oct 17 1786 [Oct 17  ... 
doi:10.1109/tase.2020.3037603 fatcat:kyt63444lfc45amrjebyjw34qu

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA July 2019 3106-3112 Flexible manufacturing systems A Capability-Aware Role Allocation Approach to Industrial Assembly Tasks.  ...  ., +, LRA Oct. 2019 3224-3231 Intelligent manufacturing systems A Capability-Aware Role Allocation Approach to Industrial Assembly Tasks.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

Design lessons for building agile manufacturing systems

W.S. Newman, A. Podgurski, R.D. Quinn, F.L. Merat, M.S. Branicky, N.A. Barendt, G.C. Causey, E.L. Haaser, Yoohwan Kim, J. Swaminathan, V.B. Velasco
2000 IEEE Transactions on Robotics and Automation  
Design choices for both hardware and software must strike a balance between the inflexibility of special-purpose designs and the impracticality of overly general designs.  ...  Key to achieving these goals is the ease of equipment and software reuse.  ...  ACKNOWLEDGMENT The authors would like to thank the following current or former faculty and students who contributed substantially to the agile manufacturing project: L. Sterling, S. Kim  ... 
doi:10.1109/70.850641 fatcat:6bqgeeloxvghjodz55bfcyqhxe

Space Telerobotics

Terrence Fong, Jennifer Rochlis Zumbado, Nancy Currie, Andrew Mishkin, David L. Akin
2013 Reviews of Human Factors and Ergonomics  
This shift will affect allocation of tasks between humans and robots and require flexible and adaptable levels of automation, team-level goals, and scheduling. Constraints Space environment.  ...  By mapping human head, arm, hand, and body motions to corresponding R2 robot motions with minimal time delay, astronauts will be able to perform complex, unstructured tasks.  ...  From 1997 to 2000, he was vice president of development for Fourth Planet, Inc., a developer of real-time data and network visualization software.  ... 
doi:10.1177/1557234x13510679 fatcat:3tobnk22cbfj3plocakr5pyvli

Towards 5G Enabled Tactile Robotic Telesurgery [article]

Qi Zhang, Jianhui Liu, Guodong Zhao
2018 arXiv   pre-print
Robotic telesurgery has a potential to provide extreme and urgent health care services and bring unprecedented opportunities to deliver highly specialized skills globally.  ...  This imposes significant challenges to design a reliable and secure but cost-effective communication solution.  ...  ACKNOWLEDGMENTS The authors would like to thank Jørgen Bjerggaard Jensen, Clinical Professor in Urology at Aarhus University with special focus on bladder cancer and robotic surgery, for his experience  ... 
arXiv:1803.03586v1 fatcat:sohmkhvkhzahvef6qofer6oq3i

A review on drones controlled in real-time

Vemema Kangunde, Rodrigo S. Jamisola, Emmanuel K. Theophilus
2021 International Journal of Dynamics and Control  
Systems in real-time control create more deterministic response such that tasks are guaranteed to be completed within a specified time.  ...  This system characteristic is very much desirable for drones that are now required to perform more sophisticated tasks.  ...  To view a copy of this licence, visit http://creativecomm  ... 
doi:10.1007/s40435-020-00737-5 pmid:33425650 pmcid:PMC7785038 fatcat:gcbm3vgepbdurlwdydordynkz4

Optimisation process for robotic assembly of electronic components

K. T. Andrzejewski, M. P. Cooper, C. A. Griffiths, C. Giannetti
2018 The International Journal of Advanced Manufacturing Technology  
Using the optimised paths, a condition monitoring method for cycle time evaluation was conducted using a KUKA KR16 assembly cell together with four different robot path motions.  ...  A heuristic methodology using a genetic algorithm was used to plan the optimal sequence and identify the best location of the parts to the assembly positions on the PCB.  ...  [28] proposed a hierarchical solution approach to solve the problem of determining the placement sequence and feeder arrangement. Sun et al. [29] studied a dual-gantry collect-and-place machine.  ... 
doi:10.1007/s00170-018-2645-y fatcat:mlga3ftbm5g4xfaeozkvk4fj3y
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