| Autor: |
Daniel Mateu-Gomez, Francisco José Martínez-Peral, Carlos Perez-Vidal |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
Technologies, Vol 12, Iss 1, p 12 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2227-7080 |
| DOI: |
10.3390/technologies12010012 |
| Popis: |
This article addresses the problem of automating a multi-arm pick-and-place robotic system. The objective is to optimize the execution time of a task simultaneously performed by multiple robots, sharing the same workspace, and determining the order of operations to be performed. Due to its ability to address decision-making problems of all kinds, the system is modeled under the mathematical framework of the Markov Decision Process (MDP). In this particular work, the model is adjusted to a deterministic, single-agent, and fully observable system, which allows for its comparison with other resolution methods such as graph search algorithms and Planning Domain Definition Language (PDDL). The proposed approach provides three advantages: it plans the trajectory to perform the task in minimum time; it considers how to avoid collisions between robots; and it automatically generates the robot code for any robot manufacturer and any initial objects’ positions in the workspace. The result meets the objectives and is a fast and robust system that can be safely employed in a production line. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
