Minimum-time assembly sequence planning for a multi-robot system

K. Jiang; L. D. Seneviratne; S. W.E. Earles

doi:10.1109/ETFA.1992.683271

Minimum-time assembly sequence planning for a multi-robot system

K. Jiang
, L. D. Seneviratne
, S. W.E. Earles

Mechanical & Nuclear Engineering

King's College London

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A minimum-time assembly sequence planning algorithm for a multi-robot cell is presented. The algorithm uses compact diagrammatic representation of the problem to account for constraints of collision avoidance between the robots. An arrangement for a near optimum assembly sequence is developed based on dynamic programming. This is then taken as an initial state seeking iteratively for a time-minimum sequence.. The algorithm is derived for a two robot cell, and then extended for application to three and more robot workcells.

Original language	British English
Title of host publication	IEEE International Workshop on Emerging Technologies and Factory Automation
Subtitle of host publication	Technology for the Intelligent Factory - Proceedings, ETFA 1992
Editors	R. Zurawski, T.S. Dillon
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	305-310
Number of pages	6
ISBN (Electronic)	0780308867
DOIs	https://doi.org/10.1109/ETFA.1992.683271
State	Published - 1992
Event	1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 - Melbourne, Australia Duration: 11 Aug 1992 → 14 Aug 1992

Publication series

Name	IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume	1992-August
ISSN (Print)	1946-0740
ISSN (Electronic)	1946-0759

Conference

Conference	1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992
Country/Territory	Australia
City	Melbourne
Period	11/08/92 → 14/08/92

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being
SDG 9 Industry, Innovation, and Infrastructure

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10.1109/ETFA.1992.683271

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Jiang, K., Seneviratne, L. D., & Earles, S. W. E. (1992). Minimum-time assembly sequence planning for a multi-robot system. In R. Zurawski, & T. S. Dillon (Eds.), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992 (pp. 305-310). Article 683271 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 1992-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA.1992.683271

Jiang, K. ; Seneviratne, L. D. ; Earles, S. W.E. / Minimum-time assembly sequence planning for a multi-robot system. IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. editor / R. Zurawski ; T.S. Dillon. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 305-310 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA).

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abstract = "A minimum-time assembly sequence planning algorithm for a multi-robot cell is presented. The algorithm uses compact diagrammatic representation of the problem to account for constraints of collision avoidance between the robots. An arrangement for a near optimum assembly sequence is developed based on dynamic programming. This is then taken as an initial state seeking iteratively for a time-minimum sequence.. The algorithm is derived for a two robot cell, and then extended for application to three and more robot workcells.",

author = "K. Jiang and Seneviratne, \{L. D.\} and Earles, \{S. W.E.\}",

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language = "British English",

series = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",

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Jiang, K, Seneviratne, LD & Earles, SWE 1992, Minimum-time assembly sequence planning for a multi-robot system. in R Zurawski & TS Dillon (eds), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992., 683271, IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, vol. 1992-August, Institute of Electrical and Electronics Engineers Inc., pp. 305-310, 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992, Melbourne, Australia, 11/08/92. https://doi.org/10.1109/ETFA.1992.683271

Minimum-time assembly sequence planning for a multi-robot system. / Jiang, K.; Seneviratne, L. D.; Earles, S. W.E.
IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. ed. / R. Zurawski; T.S. Dillon. Institute of Electrical and Electronics Engineers Inc., 1992. p. 305-310 683271 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 1992-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Earles, S. W.E.

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AB - A minimum-time assembly sequence planning algorithm for a multi-robot cell is presented. The algorithm uses compact diagrammatic representation of the problem to account for constraints of collision avoidance between the robots. An arrangement for a near optimum assembly sequence is developed based on dynamic programming. This is then taken as an initial state seeking iteratively for a time-minimum sequence.. The algorithm is derived for a two robot cell, and then extended for application to three and more robot workcells.

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M3 - Conference contribution

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BT - IEEE International Workshop on Emerging Technologies and Factory Automation

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PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Jiang K, Seneviratne LD, Earles SWE. Minimum-time assembly sequence planning for a multi-robot system. In Zurawski R, Dillon TS, editors, IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. Institute of Electrical and Electronics Engineers Inc. 1992. p. 305-310. 683271. (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA). doi: 10.1109/ETFA.1992.683271

Minimum-time assembly sequence planning for a multi-robot system

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UN SDGs

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