A constraint programming approach to simultaneous task allocation and motion scheduling for industrial dual-arm manipulation tasks

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

Colleges, School and Institutes

External organisations

  • Robert Bosch GmbH, Corporate Research, Renningen, Germany
  • Orebro University, Orebro, Sweden

Abstract

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. Low setup times - including the instructing/specifying of new tasks - are crucial to stay competitive. We propose a constraint programming approach to simultaneous task allocation and motion scheduling for such industrial manipulation and assembly tasks. Our approach covers the robot as well as connected machines. The key concept are Ordered Visiting Constraints, a descriptive and extensible model to specify such tasks with their spatiotemporal requirements and combinatorial or ordering constraints. Our solver integrates such task models and robot motion models into constraint optimization problems and solves them efficiently using various heuristics to produce makespan-optimized robot programs. For large manipulation tasks with 200 objects, our solver implemented using Google's Operations Research tools requires less than a minute to compute usable plans. The proposed task model is robot-independent and can easily be deployed to other robotic platforms. This portability is validated through several simulation-based experiments.

Details

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation (ICRA)
Publication statusPublished - 20 May 2019
Event2019 International Conference on Robotics and Automation (ICRA) - Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameInternational Conference on Robotics and Automation (ICRA)
PublisherIEEE Computer Society Press
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

Conference2019 International Conference on Robotics and Automation (ICRA)
CountryCanada
CityMontreal
Period20/05/1924/05/19