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Automated Path Planning for Plug Produce in a Cutting-tool Changing Application
Högskolan Väst, Institutionen för ingenjörsvetenskap, Avdelningen för produktionssystem (PS). (PTW)
Högskolan Väst, Institutionen för ingenjörsvetenskap, Avdelningen för produktionssystem (PS). (PTW)
Högskolan Väst, Institutionen för ingenjörsvetenskap, Avdelningen för produktionssystem (PS). (PTW)
Högskolan Väst, Institutionen för ingenjörsvetenskap, Avdelningen för produktionssystem (PS). (PTW)ORCID-id: 0000-0002-6604-6904
2019 (engelsk)Inngår i: 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2019, s. 356-362, artikkel-id 8869398Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper, a path planning algorithm is designed and tested with a real robot for a Plug & Produce demonstrator. The demonstrator is divided into modules that can be connected and removed. Modules are used for various processes like tool change and storage. This paper focuses on the process of cutting-tool change for the production industry. The Plug & Produce demonstrator uses a multi-agent system where parts and resources are agents. A part agent, e.g., a cutting-tool, can request a robot to perform skills like transportation. This requires the robot to be autonomous. The aim of this paper is to automate the path planning for industrial robotics in a Plug & Produce system. This is done by implementing a sampling based RRT algorithm combined with a collision detection function in RobotStudio. With various real time scenarios, the path planning execution time is observed and presented in the paper.

sted, utgiver, år, opplag, sider
2019. s. 356-362, artikkel-id 8869398
Emneord [en]
Collision avoidance, Industry4.0, Multi-agent systems, Path planning, Plug & Produce, Plugs, rapidly-exploring random tree, Robot kinematics, Service robots, Tools
HSV kategori
Forskningsprogram
TEKNIK, Produktions- och materialteknik; Produktionsteknik
Identifikatorer
URN: urn:nbn:se:hv:diva-14681DOI: 10.1109/ETFA.2019.8869398Scopus ID: 2-s2.0-85074208961OAI: oai:DiVA.org:hv-14681DiVA, id: diva2:1367583
Konferanse
24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
Tilgjengelig fra: 2019-11-04 Laget: 2019-11-04 Sist oppdatert: 2020-01-14bibliografisk kontrollert

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Ramasamy, SudhaZhang, XiaoxiaoBennulf, MattiasDanielsson, Fredrik

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