Multi-level optimization approach for multi-robot manufacturing systems

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.