A constraint programming model for the scheduling and workspace layout design of a dual-arm multi-tool assembly robot

The generation of a robot program can be seen as a collection of sub-problems, where many combinations of some of these sub-problems are well studied. The performance of a robot program is strongly conditioned by the location of the tasks. However, the scope of previous methods does not include work...

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Veröffentlicht in:	Constraints : an international journal Jg. 28; H. 2; S. 71 - 104
Hauptverfasser:	Wessén, Johan, Carlsson, Mats, Schulte, Christian, Flener, Pierre, Pecora, Federico, Matskin, Mihhail
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York Springer US 01.06.2023 Springer Nature B.V
Schlagworte:	Artificial Intelligence Assembly Assembly manufacturing Computer Science Constraint programming Constraint theory Constraints Design Dual arm Industrial applications Layout designs Layouts Machine design Manufacturing Operations Research/Decision Theory Optimization Planning Planning and scheduling Programming Robot planning Robot planning and scheduling Robot programming Robot programs Robotics Robots Scheduling Sub-problems Workspace layout design Robot planning and scheduling Workspace layout design Assembly manufacturing Constraint programming
ISSN:	1383-7133, 1572-9354, 1572-9354
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Abstract	The generation of a robot program can be seen as a collection of sub-problems, where many combinations of some of these sub-problems are well studied. The performance of a robot program is strongly conditioned by the location of the tasks. However, the scope of previous methods does not include workspace layout design, likely missing high-quality solutions. In industrial applications, designing robot workspace layout is part of the commissioning. We broaden the scope and show how to model a dual-arm multi-tool robot assembly problem. Our model includes more robot programming sub-problems than previous methods, as well as workspace layout design. We propose a constraint programming formulation in MiniZinc that includes elements from scheduling and routing, extended with variable task locations. We evaluate the model on realistic assembly problems and workspaces, utilizing the dual-arm YuMi robot from ABB Ltd. We also evaluate redundant constraints and various formulations for avoiding arm-to-arm collisions. The best model variant quickly finds high-quality solutions for all problem instances. This demonstrates the potential of our approach as a valuable tool for a robot programmer.
AbstractList	The generation of a robot program can be seen as a collection of sub-problems, where many combinations of some of these sub-problems are well studied. The performance of a robot program is strongly conditioned by the location of the tasks. However, the scope of previous methods does not include workspace layout design, likely missing high-quality solutions. In industrial applications, designing robot workspace layout is part of the commissioning. We broaden the scope and show how to model a dual-arm multi-tool robot assembly problem. Our model includes more robot programming sub-problems than previous methods, as well as workspace layout design. We propose a constraint programming formulation in MiniZinc that includes elements from scheduling and routing, extended with variable task locations. We evaluate the model on realistic assembly problems and workspaces, utilizing the dual-arm YuMi robot from ABB Ltd. We also evaluate redundant constraints and various formulations for avoiding arm-to-arm collisions. The best model variant quickly finds high-quality solutions for all problem instances. This demonstrates the potential of our approach as a valuable tool for a robot programmer. The generation of a robot program can be seen as a collection of sub-problems, where many combinations of some of these sub-problems are well studied. The performance of a robot program is strongly conditioned by the location of the tasks. However, the scope of previous methods does not include workspace layout design, likely missing high-quality solutions. In industrial applications, designing robot workspace layout is part of the commissioning. We broaden the scope and show how to model a dual-arm multi-tool robot assembly problem. Our model includes more robot programming sub-problems than previous methods, as well as workspace layout design. We propose a constraint programming formulation in MiniZinc that includes elements from scheduling and routing, extended with variable task locations. We evaluate the model on realistic assembly problems and workspaces, utilizing the dual-arm YuMi robot from ABB Ltd. We also evaluate redundant constraints and various formulations for avoiding arm-to-arm collisions. The best model variant quickly finds high-quality solutions for all problem instances. This demonstrates the potential of our approach as a valuable tool for a robot programmer. © 2023, The Author(s).
Author	Flener, Pierre Pecora, Federico Wessén, Johan Carlsson, Mats Schulte, Christian Matskin, Mihhail
Author_xml	– sequence: 1 givenname: Johan orcidid: 0000-0003-4126-6879 surname: Wessén fullname: Wessén, Johan email: jlwessen@kth.se organization: ABB Corporate Research – sequence: 2 givenname: Mats orcidid: 0000-0003-3079-8095 surname: Carlsson fullname: Carlsson, Mats organization: RISE Research Institutes of Sweden – sequence: 3 givenname: Christian orcidid: 0000-0002-6283-7004 surname: Schulte fullname: Schulte, Christian organization: KTH Royal Institute of Technology – sequence: 4 givenname: Pierre orcidid: 0000-0001-8730-4098 surname: Flener fullname: Flener, Pierre organization: Uppsala University – sequence: 5 givenname: Federico orcidid: 0000-0002-9652-7864 surname: Pecora fullname: Pecora, Federico organization: Örebro University – sequence: 6 givenname: Mihhail orcidid: 0000-0002-4722-0823 surname: Matskin fullname: Matskin, Mihhail organization: KTH Royal Institute of Technology
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Cites_doi	10.1016/0004-3702(71)90010-5 10.1109/ICRA.2013.6630817 10.1109/AERO.2019.8741569 10.1002/jos.92 10.1016/0377-2217(94)90332-8 10.1609/aaai.v33i01.33016087 10.1016/j.jmsy.2015.05.004 10.1007/978-3-540-74970-7_38 10.1007/s10951-021-00684-9 10.1109/IROS.2012.6385972 10.1016/S0377-2217(01)00338-1 10.1109/TSMC.1981.4308589 10.1177/0278364918765952 10.1007/s10514-019-09832-9 10.1109/ICRA.2019.8794022 10.1023/a:1018995317468 10.1007/s10601-020-09316-z 10.1007/s13218-014-0325-0 10.1007/978-3-030-58942-4_33 10.1109/ROBOT.2002.1014709 10.1177/0278364917739114 10.1016/j.dam.2008.03.021 10.1007/s10732-005-1997-2 10.1109/TRA.2002.802229 10.1007/s13218-019-00625-x 10.1017/CBO9780511546877 10.1109/IROS.2011.6094883 10.1109/ROBOT.2000.845149 10.1007/s10951-005-2861-9 10.1016/j.cie.2010.03.013 10.6092/JOSER_2014_05_01_p3 10.1109/IROS.2014.6943079 10.1016/0020-0190(93)90029-9 10.1109/ROBOT.1986.1087555 10.1109/IROS.2013.6696370 10.1137/0402049 10.1109/ICRA.2011.5980391 10.1609/aaai.v27i1.8541
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Snippet	The generation of a robot program can be seen as a collection of sub-problems, where many combinations of some of these sub-problems are well studied. The...
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SubjectTerms	Artificial Intelligence Assembly Assembly manufacturing Computer Science Constraint programming Constraint theory Constraints Design Dual arm Industrial applications Layout designs Layouts Machine design Manufacturing Operations Research/Decision Theory Optimization Planning Planning and scheduling Programming Robot planning Robot planning and scheduling Robot programming Robot programs Robotics Robots Scheduling Sub-problems Workspace layout design
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Title	A constraint programming model for the scheduling and workspace layout design of a dual-arm multi-tool assembly robot
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