Automated and Cycle Time Optimized Path Planning for Robot-Based Inspection Systems
| Autor: | Gregor Lux, Gunther Reinhart, Lëıla Jürgensen, Marco Ulrich |
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| Rok vydání: | 2016 |
| Předmět: |
Heuristic (computer science)
Computer science Real-time computing 0102 computer and information sciences 02 engineering and technology Probabilistic roadmap 021001 nanoscience & nanotechnology 01 natural sciences Any-angle path planning law.invention ddc Visual inspection Industrial robot 010201 computation theory & mathematics law Search algorithm General Earth and Planetary Sciences Robot Motion planning 0210 nano-technology Simulation Path planning General Environmental Science |
| Zdroj: | Procedia CIRP. 44:377-382 |
| ISSN: | 2212-8271 |
| DOI: | 10.1016/j.procir.2016.02.021 |
| Popis: | Robot-based inspection systems, consisting of a standard industrial robot and an optical 3D sensor, increasingly gain importance within production in order to quantify the quality of products. These systems show advantages in terms of costs, flexibility and in-line capability. Based on the inspection plan of a product, the robot path for the inspection system is currently planned manually which is a very time consuming process. Consequently, an automated path planning algorithm generating a time optimized and collision-free path would improve the flexibility of robot-based inspection systems. The presented approach shows an automated and cycle time optimized path planning algorithm for robot-based inspection systems. This is realized by the probabilistic roadmap method applied on all measurement poses in combination with the A* search algorithm for the determination of weighted paths. Finally, the optimization of the path is reduced to a traveling salesman problem which is solved by the Christofides heuristic. |
| Databáze: | OpenAIRE |
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