Multi-level optimization approach for multi-robot manufacturing systems
Ye, Xin 1; Shen, Wei 2; Mamaev, Ilshat 3; Bertram, Thomas; Bryg, Maximilian; Schwartz, Manuel
1; Hohmann, Soeren 2; Asfour, Tamim 3; Hein, Bjoern 2; Kipfmueller, Martin; Kotschenreuther, Jan
1 Institut für Regelungs- und Steuerungssysteme (IRS), Karlsruher Institut für Technologie (KIT)
2 Karlsruher Institut für Technologie (KIT)
3 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)
1; Hohmann, Soeren 2; Asfour, Tamim 3; Hein, Bjoern 2; Kipfmueller, Martin; Kotschenreuther, Jan1 Institut für Regelungs- und Steuerungssysteme (IRS), Karlsruher Institut für Technologie (KIT)
2 Karlsruher Institut für Technologie (KIT)
3 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)
Abstract:
This paper presents a multi-level optimization approach for multi-robot system in the context of Software Defined Man-
ufacturing (SDM). While industrial robots offer larger workspace, versatility, and lower cost, they generally lack in
rigidity and thus accuracy in comparison to machine tools. We propose a solution to compensating these drawbacks
using a multi-level optimization which includes an intelligent task and action planning for multiple robots, a trajectory
generation considering robot dynamics, coupling of robots, and stiffness constraints, as well as a modular simulative
validation. Finally, we present an experimental setup with two coupled robots in a bending task. The results show this
approach allows robots to apply significantly higher forces compared to single robot setup, and dual robot benchmark
without stiffness optimization.
ufacturing (SDM). While industrial robots offer larger workspace, versatility, and lower cost, they generally lack in
rigidity and thus accuracy in comparison to machine tools. We propose a solution to compensating these drawbacks
using a multi-level optimization which includes an intelligent task and action planning for multiple robots, a trajectory
generation considering robot dynamics, coupling of robots, and stiffness constraints, as well as a modular simulative
validation. Finally, we present an experimental setup with two coupled robots in a bending task. The results show this
approach allows robots to apply significantly higher forces compared to single robot setup, and dual robot benchmark
without stiffness optimization.
| Zugehörige Institution(en) am KIT | Institut für Anthropomatik und Robotik (IAR) Institut für Regelungs- und Steuerungssysteme (IRS) |
| Publikationstyp | Proceedingsbeitrag |
| Publikationsjahr | 2022 |
| Sprache | Englisch |
| Identifikator | ISBN: 978-3-8007-5891-3 KITopen-ID: 1000150792 |
| Erschienen in | 54th International Symposium on Robotics : (ISR Europe 2022) : 20-21 June 2022, Munich, Germany |
| Veranstaltung | 54th International Symposium on Robotics (ISR Europe 2022), München, Deutschland, 20.06.2022 – 21.06.2022 |
| Verlag | VDE Verlag |
| Seiten | 1-8 |
| Nachgewiesen in | Scopus |