AUTOMATIC ASSEMBLY TASK ASSIGNMENT FOR A MULTIROBOT ENVIRONMENT

Authors
DELVALLE C CAMACHO EF
Citation
C. Delvalle et Ef. Camacho, AUTOMATIC ASSEMBLY TASK ASSIGNMENT FOR A MULTIROBOT ENVIRONMENT, Control engineering practice, 4(7), 1996, pp. 915-921
Citations number
22
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
Control engineering practice → ACNP
ISSN journal
09670661
Volume
4
Issue
7
Year of publication
1996
Pages
915 - 921
Database
ISI
SICI code
0967-0661(1996)4:7<915:AATAFA>2.0.ZU;2-B
Abstract
This paper presents an algorithm A for obtaining the ''best'' assembl y plan for a product in a multirobot system. The algorithm takes into account, in addition to the assembly times, the times needed to change tools in the robots. The objective of the plan is the minimization of the makespan. To meet this objective, the algorithm starts from the A nd/Or graph (compressed representation of all feasible assembly plans) and the information on each assembly task (robot and tool needed, and assembly time).