Optimization of the pick-and-place sequence of a bimanual collaborative robot in an industrial production line

This paper focuses on optimising pick-and-place tasks performed by a dual-arm collaborative robot in a specific shoe manufacturing industry environment. The robot must identify the pieces of a shoe placed on a tray, pick them up, and place them in a shoe mold for further processing. The shoe pieces...

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Vydáno v:	International journal of advanced manufacturing technology Ročník 130; číslo 9-10; s. 4221 - 4234
Hlavní autoři:	Borrell, Jorge, Perez-Vidal, Carlos, Segura, Jose Vicente
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	London Springer London 01.02.2024 Springer Nature B.V
Témata:	Assembly CAE) and Design Collaboration Computer-Aided Engineering (CAD Engineering Industrial and Production Engineering Integer programming Linear programming Mathematical models Mechanical Engineering Media Management Molds Motion planning Optimization Original Article Pick and place tasks Production lines Robot dynamics Robots Robustness (mathematics) Pick-and-place Binary Integer Linear Programming (BILP) Global optimization Robotics
ISSN:	0268-3768, 1433-3015
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Abstract	This paper focuses on optimising pick-and-place tasks performed by a dual-arm collaborative robot in a specific shoe manufacturing industry environment. The robot must identify the pieces of a shoe placed on a tray, pick them up, and place them in a shoe mold for further processing. The shoe pieces arrive on the tray in random positions and angles and can be picked up in a different order. Optimising these tasks could increase the assembly speed of each unit and improve shoe production. To achieve this goal, a mathematical model based on binary integer linear programming (BILP) has been developed. This model determines the optimal sequence for picking and placing the shoe pieces in the mold, thus minimising the time required for picking and decision-making. The effectiveness of this approach has been tested using two 3-piece unit shoe models: one for training and another for validation. These models encompass a total of 500 trays. An analysis of the results reveals that BILP offers advantages for task motion planning in complex environments with multiple trajectories and the potential for collisions between arms. The model’s generalizability to shoes with n assembly pieces further confirms its robustness for various piece counts.
AbstractList	This paper focuses on optimising pick-and-place tasks performed by a dual-arm collaborative robot in a specific shoe manufacturing industry environment. The robot must identify the pieces of a shoe placed on a tray, pick them up, and place them in a shoe mold for further processing. The shoe pieces arrive on the tray in random positions and angles and can be picked up in a different order. Optimising these tasks could increase the assembly speed of each unit and improve shoe production. To achieve this goal, a mathematical model based on binary integer linear programming (BILP) has been developed. This model determines the optimal sequence for picking and placing the shoe pieces in the mold, thus minimising the time required for picking and decision-making. The effectiveness of this approach has been tested using two 3-piece unit shoe models: one for training and another for validation. These models encompass a total of 500 trays. An analysis of the results reveals that BILP offers advantages for task motion planning in complex environments with multiple trajectories and the potential for collisions between arms. The model’s generalizability to shoes with n assembly pieces further confirms its robustness for various piece counts.
Author	Perez-Vidal, Carlos Segura, Jose Vicente Borrell, Jorge
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Cites_doi	10.1016/j.rcim.2012.02.006 10.1109/IROS.2018.8593928 10.2507/IJSIMM14(1)3.273 10.1109/3477.907575 10.1016/j.mechmachtheory.2021.104349 10.1109/ITAIC.2019.8785472 10.1109/ACCESS.2020.3006579 10.1109/INFOCT.2018.8356858 10.1109/TIE.2020.3007091 10.1109/LRA.2022.3183786 10.1177/027836498500400301 10.1109/ICEPDS.2018.8571726 10.1016/S0377-2217(98)00231-8 10.1109/TMECH.2022.3178019 10.1108/01439911011081678 10.1109/ICARCV.2018.8581110 10.1007/s00170-013-4790-7 10.5604/01.3001.0013.0747 10.1109/ACCESS.2019.2945824 10.3390/s21103409 10.1109/ICAR.1991.240579 10.1109/ROMAN.2005.1513837 10.1109/ACC.2013.6580255 10.1109/URAI.2017.7992899 10.1109/ACCESS.2019.2913421 10.1109/ACCESS.2020.3037145 10.1186/s40691-018-0162-0 10.1016/j.ejor.2003.09.034 10.1007/s10845-012-0668-z 10.1080/10426914.2012.727119 10.1007/s41315-022-00240-4
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SubjectTerms	Assembly CAE) and Design Collaboration Computer-Aided Engineering (CAD Engineering Industrial and Production Engineering Integer programming Linear programming Mathematical models Mechanical Engineering Media Management Molds Motion planning Optimization Original Article Pick and place tasks Production lines Robot dynamics Robots Robustness (mathematics)
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Title	Optimization of the pick-and-place sequence of a bimanual collaborative robot in an industrial production line
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