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Title data
Rambau, Jörg ; Schwarz, Cornelius:
How to avoid collisions in scheduling industrial robots?
Bayreuth
,
2010
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Abstract
In modern production facilities industrial robots play an important role. When two ore more of them are moving in the same area, care must be taken to avoid collisions between them. Due to expensive equipment costs our approach to handle this is very conservative: Each critical area is modeled as a shared resource where only one robot is allowed to use it at a time. We studied collision avoidance in the context of arc welding robots in car manufacture industry. Here another shared resource comes into place. When using laser welding technology every robot needs to be connected to a laser source supplying it with the necessary energy. Each laser source can be connected to up to six robots but serve only one at a time. An instance of the problem consists of a set of robots, a set of welding task, a number of laser sources, a distance table, collision information and a production cycle time. The goal is to design robot tours covering all task and schedule them resource conflict free such that the makespan does not exceed the cycle time. We propose a general model for integrated routing and scheduling including collision avoidance as well as a branch-and-bound algorithm for it. Computational results on data generated with the robot simulation software KuKa Sim Pro are also provided showing that our algorithm outperforms standard mixed-integer models for our application.
Further data
| Item Type: | Working paper, discussion paper |
|---|---|
| Additional notes (visible to public): | msc: 90B90; msc: 90C11 |
| Keywords: | Branch-and-Bound-Methode; Gemischt-ganzzahlige Optimierung; Industrieroboter; Zusammenstoß; Handlungsreisendenproblem; Combinatorische Relaxierung; Branch-and-Bound; case study; collision avoidance; routing; scheduling |
| DDC Subjects: | 500 Science > 510 Mathematics |
| Institutions of the University: | Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics Faculties Faculties > Faculty of Mathematics, Physics und Computer Science |
| Language: | English |
| Originates at UBT: | Yes |
| URN: | urn:nbn:de:bvb:703-opus-7355 |
| Date Deposited: | 25 Apr 2014 09:30 |
| Last Modified: | 04 Apr 2019 05:42 |
| URI: | https://epub.uni-bayreuth.de/id/eprint/412 |
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