Optimization-based path planning framework for industrial manufacturing processes with complex continuous paths
The complexity of robotic path planning problems in industrial manufacturing increases significantly with the current trends of product individualization and flexible production systems. In many industrial processes, a robotic tool has to follow a desired manufacturing path most accurately, while ce...
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| Published in: | Robotics and computer-integrated manufacturing Vol. 82; p. 102516 |
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| Main Authors: | , , , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Elsevier Ltd
01-08-2023
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| Subjects: | |
| Online Access: | Get full text |
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| Summary: | The complexity of robotic path planning problems in industrial manufacturing increases significantly with the current trends of product individualization and flexible production systems. In many industrial processes, a robotic tool has to follow a desired manufacturing path most accurately, while certain deviations, also called process tolerances and process windows, are allowed. In this work, a path planning framework is proposed, which systematically incorporates all process degrees of freedom (DoF), tolerances and redundant DoF of the considered manufacturing process as well as collision avoidance. Based on the specified process DoF and tolerances, the objective function and the hard and soft constraints of the underlying optimization problem can be easily parametrized to find the optimal joint-space path. By providing the analytical gradients of the objective function and the constraints and utilizing modern multi-core CPUs, the computation performance can be significantly improved. The proposed path planning framework is demonstrated for an experimental drawing process and a simulated spraying process. The planner is able to solve complex planning tasks of continuous manufacturing paths by systematically exploiting the process DoF and tolerances while allowing to move through singular configurations, which leads to solutions that cannot be found by state-of-the-art concepts.
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•Flexible robotic path planning for complex industrial processes.•Path planning framework considers the process properties.•Process properties are process tolerances and windows, constraints, redundant DoF.•Optimization-based approach computes multiple joint-space paths in parallel.•Validation of path planner with two different scenarios (drawing/spraying process). |
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| ISSN: | 0736-5845 1879-2537 |
| DOI: | 10.1016/j.rcim.2022.102516 |