Approach to Cooperative Assembly Task Planning for Multiple Manipulators
It is very difficult to allocate the assembly tasks tomultiple manipulators, because the number ofmanipulators is variable and each manipulator hasdifferent ability. This paper presents a novel approach forcooperative assembly task planning for a multiplemanipulators environment to improve the flexibility andreliability of the automated assembly system. In this paper,the hierarchical assembly precedence graph (HAPG)extended from the assembly precedence graph (APG) isproposed to describe the assembly sequences and theassembly process data necessary for the task allocations.The outline of the agent-based and cooperative assemblytask planning system is presented, and this system startsfrom the HAPG and the information of the manipulatoragents. For the sake of minimizing the make,pan, thealgorithm of task planning takes into account not only theassembly processing time but also the time needed for themanipulators to change tools. Some applications of thisalgorithm for a multiple manipulators environment aredescribed.
Tianyang Dong Ruofeng Tong Ling Zhang Jinxiang Dong
Institute of Artificial Intelligence Zhejiang University.Hangzhou.310027,P.R.China Institute of Modern Manufacturing Zhejiang University.Hangzhou.310027,P.R.China
国际会议
厦门
英文
202-208
2004-05-26（万方平台首次上网日期，不代表论文的发表时间）